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// Copyright (c) 2016, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// This file is part of hpp-manipulation.
// hpp-manipulation is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
#include <hpp/manipulation/graph/helper.hh>
#include <hpp/util/debug.hh>
#include <hpp/manipulation/graph/node.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph/node-selector.hh>
namespace hpp {
namespace manipulation {
namespace graph {
namespace helper {
template <bool forPath>
void NumericalConstraintsAndPassiveDofs::addToComp
(GraphComponentPtr_t comp) const
{
if (nc.empty ()) return;
NodePtr_t n;
if (forPath) {
n = HPP_DYNAMIC_PTR_CAST (Node, comp);
if (!n) throw std::logic_error ("Wrong type: expect a Node");
}
NumericalConstraints_t::const_iterator it;
IntervalsContainer_t::const_iterator itpdof = pdof.begin ();
for (it = nc.begin (); it != nc.end (); ++it) {
if (forPath) n->addNumericalConstraintForPath (*it, *itpdof);
else comp->addNumericalConstraint (*it, *itpdof);
++itpdof;
}
assert (itpdof == pdof.end ());
template <bool param>
void NumericalConstraintsAndPassiveDofs::specifyFoliation
(LevelSetEdgePtr_t lse) const
{
NumericalConstraints_t::const_iterator it;
IntervalsContainer_t::const_iterator itpdof = pdof.begin ();
for (it = nc.begin (); it != nc.end (); ++it) {
if (param) lse->insertParamConstraint (*it, *itpdof);
else lse->insertConditionConstraint (*it, *itpdof);
++itpdof;
}
assert (itpdof == pdof.end ());
}
void FoliatedManifold::addToNode (NodePtr_t comp) const
{
nc.addToComp <false> (comp);
for (LockedJoints_t::const_iterator it = lj.begin ();
it != lj.end (); ++it)
comp->addLockedJointConstraint (*it);
nc_path.addToComp <true> (comp);
}
void FoliatedManifold::addToEdge (EdgePtr_t comp) const
{
nc_fol.addToComp <false> (comp);
for (LockedJoints_t::const_iterator it = lj_fol.begin ();
it != lj_fol.end (); ++it)
comp->addLockedJointConstraint (*it);
void FoliatedManifold::specifyFoliation (LevelSetEdgePtr_t lse) const
{
nc.specifyFoliation <false> (lse);
for (LockedJoints_t::const_iterator it = lj.begin ();
it != lj.end (); ++it)
lse->insertConditionConstraint (*it);
nc_fol.specifyFoliation <true> (lse);
for (LockedJoints_t::const_iterator it = lj_fol.begin ();
it != lj_fol.end (); ++it)
lse->insertParamConstraint (*it);
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template <> EdgePair_t
createEdges <WithPreGrasp | WithPrePlace> (
const std::string& forwName, const std::string& backName,
const NodePtr_t& from, const NodePtr_t& to,
const size_type& wForw, const size_type& wBack,
const FoliatedManifold& grasp, const FoliatedManifold& pregrasp,
const FoliatedManifold& place, const FoliatedManifold& preplace,
const bool levelSetGrasp, const bool levelSetPlace,
const FoliatedManifold& submanifoldDef)
{
// Create the edges
WaypointEdgePtr_t weForw = HPP_DYNAMIC_PTR_CAST (WaypointEdge,
from->linkTo (forwName, to, wForw, WaypointEdge::create)),
weBack = HPP_DYNAMIC_PTR_CAST (WaypointEdge,
to-> linkTo (backName, from, wBack, WaypointEdge::create));
weForw->nbWaypoints (3);
weBack->nbWaypoints (3);
std::string name = forwName;
NodeSelectorPtr_t ns = weForw->parentGraph ()->nodeSelector ();
NodePtr_t n0 = from,
n1 = ns->createNode (name + "_pregrasp", true),
n2 = ns->createNode (name + "_intersec", true),
n3 = ns->createNode (name + "_preplace", true),
n4 = to;
EdgePtr_t e01 = n0->linkTo (name + "_e01", n1, -1, Edge::create),
e12 = n1->linkTo (name + "_e12", n2, -1, Edge::create),
e23 = n2->linkTo (name + "_e23", n3, -1, Edge::create),
e34 = weForw;
LevelSetEdgePtr_t e12_ls;
if (levelSetGrasp)
e12_ls = HPP_DYNAMIC_PTR_CAST (LevelSetEdge,
n1->linkTo (name + "_e12_ls", n2, -1, LevelSetEdge::create));
// Set the edges properties
e01->node (n0);
e12->node (n0); e12->setShort (true);
e23->node (n4); e23->setShort (true);
e34->node (n4);
// set the nodes constraints
// From and to are not populated automatically to avoid duplicates.
place.addToNode (n1);
pregrasp.addToNode (n1);
submanifoldDef.addToNode (n1);
place.addToNode (n2);
grasp.addToNode (n2);
submanifoldDef.addToNode (n2);
preplace.addToNode (n3);
grasp.addToNode (n3);
submanifoldDef.addToNode (n3);
// Set the edges constraints
place.addToEdge (e01);
submanifoldDef.addToEdge (e01);
place.addToEdge (e12);
submanifoldDef.addToEdge (e12);
grasp.addToEdge (e23);
submanifoldDef.addToEdge (e23);
grasp.addToEdge (e34);
submanifoldDef.addToEdge (e34);
// Set the waypoints
weForw->setWaypoint (0, e01, n1);
weForw->setWaypoint (1, (levelSetGrasp)?e12_ls:e12, n2);
weForw->setWaypoint (2, e23, n3);
// Populate bacward edge
EdgePtr_t e43 = n4->linkTo (name + "_e43", n3, -1, Edge::create),
e32 = n3->linkTo (name + "_e32", n2, -1, Edge::create),
e21 = n2->linkTo (name + "_e21", n1, -1, Edge::create),
e10 = weBack;
LevelSetEdgePtr_t e32_ls;
if (levelSetPlace)
e32_ls = HPP_DYNAMIC_PTR_CAST (LevelSetEdge,
n3->linkTo (name + "_e32_ls", n2, -1, LevelSetEdge::create));
e43->node (n4);
e32->node (n4); e32->setShort (true);
e21->node (n0); e21->setShort (true);
e10->node (n0);
place.addToEdge (e10);
submanifoldDef.addToEdge (e10);
place.addToEdge (e21);
submanifoldDef.addToEdge (e21);
grasp.addToEdge (e32);
submanifoldDef.addToEdge (e32);
grasp.addToEdge (e43);
submanifoldDef.addToEdge (e43);
weBack->setWaypoint (0, e43, n3);
weForw->setWaypoint (1, (levelSetGrasp)?e32_ls:e32, n2);
weBack->setWaypoint (2, e21, n1);
if (levelSetPlace) {
if (!place.isFoliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for placement, "
"but did not specify the target foliation. "
"It will have no effect");
}
e32_ls->node (n4);
e32_ls->setShort (true);
grasp.addToEdge (e32_ls);
place.specifyFoliation (e32_ls);
submanifoldDef.addToEdge (e32_ls);
}
if (levelSetGrasp) {
if (!grasp.isFoliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for grasping, "
"but did not specify the target foliation. "
"It will have no effect");
}
e12_ls->node (n0);
e12_ls->setShort (true);
place.addToEdge (e12_ls);
grasp.specifyFoliation (e12_ls);
submanifoldDef.addToEdge (e12_ls);
}
return std::make_pair (weForw, weBack);
}
template <> EdgePair_t
createEdges <GraspOnly | PlaceOnly>(
const std::string& forwName, const std::string& backName,
const NodePtr_t& from, const NodePtr_t& to,
const size_type& wForw, const size_type& wBack,
const FoliatedManifold& grasp, const FoliatedManifold& ,
const FoliatedManifold& place, const FoliatedManifold& ,
const bool levelSetGrasp, const bool levelSetPlace,
const FoliatedManifold& submanifoldDef)
{
// Create the edges
WaypointEdgePtr_t weForw = HPP_DYNAMIC_PTR_CAST (WaypointEdge,
from->linkTo (forwName, to, wForw, WaypointEdge::create)),
weBack = HPP_DYNAMIC_PTR_CAST (WaypointEdge,
to-> linkTo (backName, from, wBack, WaypointEdge::create));
weForw->nbWaypoints (1);
weBack->nbWaypoints (1);
std::string name = forwName;
NodeSelectorPtr_t ns = weForw->parentGraph ()->nodeSelector ();
NodePtr_t n0 = from,
n1 = ns->createNode (name + "_intersec", true),
n2 = to;
EdgePtr_t e01 = n0->linkTo (name + "_e01", n1, -1, Edge::create),
e12 = weForw;
LevelSetEdgePtr_t e01_ls;
if (levelSetGrasp)
e01_ls = HPP_DYNAMIC_PTR_CAST (LevelSetEdge,
n0->linkTo (name + "_e01_ls", n1, -1, LevelSetEdge::create));
// Set the edges properties
e01->node (n0);
e12->node (n1);
// set the nodes constraints
// From and to are not populated automatically to avoid duplicates.
place.addToNode (n1);
grasp.addToNode (n1);
submanifoldDef.addToNode (n1);
// Set the edges constraints
place.addToEdge (e01);
submanifoldDef.addToEdge (e01);
grasp.addToEdge (e12);
submanifoldDef.addToEdge (e12);
// Set the waypoints
weForw->setWaypoint (0, (levelSetGrasp)?e01_ls:e01, n1);
// Populate bacward edge
EdgePtr_t e21 = n2->linkTo (name + "_e21", n1, -1, Edge::create),
e10 = weBack;
LevelSetEdgePtr_t e21_ls;
if (levelSetPlace)
e21_ls = HPP_DYNAMIC_PTR_CAST (LevelSetEdge,
n2->linkTo (name + "_e21_ls", n1, -1, LevelSetEdge::create));
e21->node (n2);
e10->node (n0);
place.addToEdge (e10);
submanifoldDef.addToEdge (e10);
grasp.addToEdge (e21);
submanifoldDef.addToEdge (e21);
weForw->setWaypoint (0, (levelSetGrasp)?e21_ls:e21, n1);
if (levelSetPlace) {
if (!place.isFoliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for placement, "
"but did not specify the target foliation. "
"It will have no effect");
}
e21_ls->node (n2);
e21_ls->setShort (true);
grasp.addToEdge (e21_ls);
place.specifyFoliation (e21_ls);
submanifoldDef.addToEdge (e21_ls);
}
if (levelSetGrasp) {
if (!grasp.isFoliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for grasping, "
"but did not specify the target foliation. "
"It will have no effect");
}
e01_ls->node (n0);
e01_ls->setShort (true);
place.addToEdge (e01_ls);
grasp.specifyFoliation (e01_ls);
submanifoldDef.addToEdge (e01_ls);
}
return std::make_pair (weForw, weBack);
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template <> EdgePair_t
createEdges <WithPreGrasp | NoPlace>(
const std::string& forwName, const std::string& backName,
const NodePtr_t& from, const NodePtr_t& to,
const size_type& wForw, const size_type& wBack,
const FoliatedManifold& grasp, const FoliatedManifold& pregrasp,
const FoliatedManifold&, const FoliatedManifold&,
const bool levelSetGrasp, const bool,
const FoliatedManifold& submanifoldDef)
{
// Create the edges
WaypointEdgePtr_t weForw = HPP_DYNAMIC_PTR_CAST (WaypointEdge,
from->linkTo (forwName, to, wForw, WaypointEdge::create)),
weBack = HPP_DYNAMIC_PTR_CAST (WaypointEdge,
to-> linkTo (backName, from, wBack, WaypointEdge::create));
weForw->nbWaypoints (1);
weBack->nbWaypoints (1);
std::string name = forwName;
NodeSelectorPtr_t ns = weForw->parentGraph ()->nodeSelector ();
NodePtr_t n0 = from,
n1 = ns->createNode (name + "_pregrasp", true),
n2 = to;
EdgePtr_t e01 = n0->linkTo (name + "_e01", n1, -1, Edge::create),
e12 = weForw;
LevelSetEdgePtr_t e12_ls;
if (levelSetGrasp)
e12_ls = HPP_DYNAMIC_PTR_CAST (LevelSetEdge,
n1->linkTo (name + "_e12_ls", n2, -1, LevelSetEdge::create));
// Set the edges properties
e01->node (n0);
e12->node (n0); e12->setShort (true);
// set the nodes constraints
// From and to are not populated automatically to avoid duplicates.
pregrasp.addToNode (n1);
submanifoldDef.addToNode (n1);
// Set the edges constraints
submanifoldDef.addToEdge (e01);
submanifoldDef.addToEdge (e12);
// Set the waypoints
weForw->setWaypoint (0, e01, n1);
// weForw->setWaypoint (1, (levelSetGrasp)?e12_ls:e12, n2);
// Populate bacward edge
EdgePtr_t e21 = n2->linkTo (name + "_e21", n1, -1, Edge::create),
e10 = weBack;
e21->node (n0); e21->setShort (true);
e10->node (n0);
submanifoldDef.addToEdge (e10);
submanifoldDef.addToEdge (e21);
weForw->setWaypoint (0, e21, n1);
if (levelSetGrasp) {
hppDout (error, "You specified a foliated grasp with no placement. "
"This is currently unsupported.");
if (!grasp.isFoliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for grasping, "
"but did not specify the target foliation. "
"It will have no effect");
}
e12_ls->node (n0);
e12_ls->setShort (true);
grasp.specifyFoliation (e12_ls);
submanifoldDef.addToEdge (e12_ls);
}
return std::make_pair (weForw, weBack);
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template <> EdgePair_t
createEdges <GraspOnly | NoPlace>(
const std::string& forwName, const std::string& backName,
const NodePtr_t& from, const NodePtr_t& to,
const size_type& wForw, const size_type& wBack,
const FoliatedManifold& grasp, const FoliatedManifold&,
const FoliatedManifold&, const FoliatedManifold&,
const bool levelSetGrasp, const bool,
const FoliatedManifold& submanifoldDef)
{
// Create the edges
EdgePtr_t eForw;
if (levelSetGrasp)
eForw = from->linkTo (forwName, to, wForw, LevelSetEdge::create);
else eForw = from->linkTo (forwName, to, wForw, Edge::create);
EdgePtr_t eBack = to-> linkTo (backName, from, wBack, Edge::create);
std::string name = forwName;
eForw->node (from);
submanifoldDef.addToEdge (eForw);
eBack->node (from);
submanifoldDef.addToEdge (eBack);
if (levelSetGrasp) {
if (!grasp.isFoliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for grasping, "
"but did not specify the target foliation. "
"It will have no effect");
}
grasp.specifyFoliation (HPP_DYNAMIC_PTR_CAST (LevelSetEdge, eForw));
}
return std::make_pair (eForw, eBack);
}
} // namespace graph
} // namespace manipulation
} // namespace hpp