graph-optimizer.cc

// Copyright (c) 2015, Joseph Mirabel
// 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
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// DAMAGE.

#include <hpp/manipulation/graph-optimizer.hh>

#include <hpp/core/path.hh>
#include <hpp/core/path-vector.hh>
#include <hpp/core/problem.hh>
#include <hpp/core/config-projector.hh>

#include <hpp/manipulation/constraint-set.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph-path-validation.hh>

namespace hpp {
  namespace manipulation {
    PathVectorPtr_t GraphOptimizer::optimize (const PathVectorPtr_t& path)
    {
      PathVectorPtr_t opted = PathVector::create
        (path->outputSize(), path->outputDerivativeSize()),
        expanded = PathVector::create
          (path->outputSize(), path->outputDerivativeSize()),
        toConcat;
      GraphPathValidationPtr_t gpv = HPP_DYNAMIC_PTR_CAST (GraphPathValidation,
              this->problem()->pathValidation ());

      path->flatten (expanded);
      ConstraintSetPtr_t c;
      for (std::size_t i_s = 0; i_s < expanded->numberPaths ();) {
        PathVectorPtr_t toOpt = PathVector::create (
            path->outputSize(), path->outputDerivativeSize()); 
        PathPtr_t current = expanded->pathAtRank (i_s);
        toOpt->appendPath (current);
        graph::EdgePtr_t edge;
        c = HPP_DYNAMIC_PTR_CAST (ConstraintSet, current->constraints ());
        if (c) edge = c->edge ();
        bool isShort = edge && edge->isShort();
        std::size_t i_e = i_s + 1;
        for (; i_e < expanded->numberPaths (); ++i_e) {
          current = expanded->pathAtRank (i_e);
          c = HPP_DYNAMIC_PTR_CAST (ConstraintSet, current->constraints ());
          if (!c && edge) {
            hppDout(info, "No manipulation::ConstraintSet");
            break;
          }
          if (c && edge->state() != c->edge ()->state()) break;
          if (isShort != c->edge()->isShort()) // We do not optimize edges marked as short
            break;
          toOpt->appendPath (current);
        }
        hppDout(info, "Edge name: " << edge->name());
        if (isShort)
          toConcat = toOpt;
        else {
          core::ProblemPtr_t p = core::Problem::create (problem()->robot());
          p->distance(problem()->distance());
          // It should be ok to use the path validation of each edge because it
          // corresponds to the global path validation minus the collision pairs
          // disabled using the edge constraint.
          // p.pathValidation(gpv->innerValidation());
          p->pathProjector(problem()->pathProjector());
          p->steeringMethod(edge->steeringMethod()->copy());
          p->constraints(p->steeringMethod()->constraints());
          p->constraints()->configProjector()->rightHandSideFromConfig(toOpt->initial());
          p->pathValidation(edge->pathValidation());
          pathOptimizer_ = factory_ (p);
          toConcat = pathOptimizer_->optimize (toOpt);
        }
        i_s = i_e;
        opted->concatenate (toConcat);
      }
      pathOptimizer_.reset ();
      return opted;
    }
  } // namespace manipulation
} // namespace hpp