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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/model/gripper.hh>
#include <hpp/constraints/differentiable-function.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) {
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) {
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);
}
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template <> EdgePair_t
createEdges <WithPreGrasp | 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& pregrasp,
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 (2);
weBack->nbWaypoints (2);
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 = to;
EdgePtr_t e01 = n0->linkTo (name + "_e01", n1, -1, Edge::create),
e12 = n1->linkTo (name + "_e12", n2, -1, Edge::create),
e23 = 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 (n3);
// 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);
// Set the edges constraints
place.addToEdge (e01);
submanifoldDef.addToEdge (e01);
place.addToEdge (e12);
submanifoldDef.addToEdge (e12);
grasp.addToEdge (e23);
submanifoldDef.addToEdge (e23);
// Set the waypoints
weForw->setWaypoint (0, e01, n1);
weForw->setWaypoint (1, (levelSetGrasp)?e12_ls:e12, n2);
// Populate bacward edge
EdgePtr_t 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));
e32->node (n3);
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);
weForw->setWaypoint (0, (levelSetGrasp)?e32_ls:e32, n2);
weBack->setWaypoint (1, e21, n1);
if (levelSetPlace) {
if (!place.foliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for placement, "
"but did not specify the target foliation. "
"It will have no effect");
}
e32_ls->node (n3);
e32_ls->setShort (true);
grasp.addToEdge (e32_ls);
place.specifyFoliation (e32_ls);
submanifoldDef.addToEdge (e32_ls);
}
if (levelSetGrasp) {
if (!grasp.foliated ()) {
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);
}
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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) {
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) {
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.");
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) {
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);
}
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void graspManifold (
const GripperPtr_t& gripper, const HandlePtr_t& handle,
FoliatedManifold& grasp, FoliatedManifold& pregrasp)
{
NumericalConstraintPtr_t gc = handle->createGrasp (gripper);
grasp.nc.nc.push_back (gc);
grasp.nc.pdof.push_back (SizeIntervals_t ());
grasp.nc_path.nc.push_back (gc);
// TODO: see function declaration
grasp.nc_path.pdof.push_back (SizeIntervals_t ());
NumericalConstraintPtr_t gcc = handle->createGraspComplement (gripper);
if (gcc->function ().outputSize () > 0) {
grasp.nc_fol.nc.push_back (gcc);
grasp.nc_fol.pdof.push_back (SizeIntervals_t());
}
const value_type c = handle->clearance () + gripper->clearance ();
NumericalConstraintPtr_t pgc = handle->createPreGrasp (gripper, c);
pregrasp.nc.nc.push_back (pgc);
pregrasp.nc.pdof.push_back (SizeIntervals_t());
pregrasp.nc_path.nc.push_back (pgc);
pregrasp.nc_path.pdof.push_back (SizeIntervals_t());
}
void strictPlacementManifold (
const NumericalConstraintPtr_t placement,
const NumericalConstraintPtr_t preplacement,
const NumericalConstraintPtr_t placementComplement,
FoliatedManifold& place, FoliatedManifold& preplace)
{
place.nc.nc.push_back (placement);
place.nc.pdof.push_back (SizeIntervals_t());
place.nc_path.nc.push_back (placement);
place.nc_path.pdof.push_back (SizeIntervals_t());
if (placementComplement && placementComplement->function().outputSize () > 0) {
place.nc_fol.nc.push_back (placementComplement);
place.nc_fol.pdof.push_back (SizeIntervals_t());
}
preplace.nc.nc.push_back (preplacement);
preplace.nc.pdof.push_back (SizeIntervals_t());
preplace.nc_path.nc.push_back (preplacement);
preplace.nc_path.pdof.push_back (SizeIntervals_t());
}
void relaxedPlacementManifold (
const NumericalConstraintPtr_t placement,
const NumericalConstraintPtr_t preplacement,
const LockedJoints_t objectLocks,
FoliatedManifold& place, FoliatedManifold& preplace)
{
place.nc.nc.push_back (placement);
place.nc.pdof.push_back (SizeIntervals_t());
place.nc_path.nc.push_back (placement);
place.nc_path.pdof.push_back (SizeIntervals_t());
std::copy (objectLocks.begin(), objectLocks.end(), place.lj_fol.end());
preplace.nc.nc.push_back (preplacement);
preplace.nc.pdof.push_back (SizeIntervals_t());
preplace.nc_path.nc.push_back (preplacement);
preplace.nc_path.pdof.push_back (SizeIntervals_t());
}
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namespace {
typedef std::size_t index_t;
typedef std::vector <index_t> IndexV_t;
typedef std::list <index_t> IndexL_t;
typedef std::pair <index_t, index_t> Grasp_t;
typedef boost::tuple <NodePtr_t,
FoliatedManifold>
NodeAndManifold_t;
//typedef std::vector <index_t, index_t> GraspV_t;
/// GraspV_t corresponds to a unique ID of a permutation.
/// - its size is the number of grippers,
/// - the values correpond to the index of the handle (0..nbHandle-1), or
/// nbHandle to mean no handle.
typedef std::vector <index_t> GraspV_t;
struct Result {
GraphPtr_t graph;
std::vector<NodeAndManifold_t> nodes;
index_t nG, nOH;
GraspV_t dims;
const Grippers_t& gs;
const Objects_t& ohs;
Result (const Grippers_t& grippers, const Objects_t& objects, GraphPtr_t g) :
graph (g), nG (grippers.size ()), nOH (0), gs (grippers), ohs (objects)
{
BOOST_FOREACH (const Object_t& o, objects) {
nOH += o.get<1>().size();
}
dims.resize (nG);
dims[0] = nOH + 1;
for (index_t i = 1; i < nG; ++i)
dims[i] = dims[i-1] * (nOH + 1);
nodes.resize (dims[nG-1] * (nOH + 1));
}
NodeAndManifold_t& operator() (const GraspV_t& iG)
{
index_t iGOH = 0;
for (index_t i = 1; i < nG; ++i)
iGOH += dims[i] * (iG[i]);
return nodes [iGOH];
}
const Object_t& object (const index_t& iOH) const {
index_t iH = iOH;
BOOST_FOREACH (const Object_t& o, ohs) {
if (iH < o.get<1>().size()) return o;
iH -= o.get<1>().size();
}
throw std::out_of_range ("Handle index");
}
const HandlePtr_t& handle (const index_t& iOH) const {
index_t iH = iOH;
BOOST_FOREACH (const Object_t& o, ohs) {
if (iH < o.get<1>().size()) return o.get<1>()[iH];
iH -= o.get<1>().size();
}
throw std::out_of_range ("Handle index");
}
std::string name (const GraspV_t& /*iG*/) const {
// TODO: define a more representative name
return "name";
}
};
const NodeAndManifold_t& makeNode (Result& r, const GraspV_t& g)
{
NodeAndManifold_t& nam = r (g);
if (!nam.get<0>()) {
nam.get<0>() = r.graph->nodeSelector ()->createNode (r.name (g));
// Loop over the grippers and create grasping constraints if required
FoliatedManifold unused;
std::set <index_t> idxsOH;
for (index_t i = 0; i < r.nG; ++i) {
if (g[i] < r.nOH) {
idxsOH.insert (g[i]);
graspManifold (r.gs[i], r.handle (g[i]),
nam.get<1>(), unused);
}
}
index_t iOH = 0;
BOOST_FOREACH (const Object_t& o, r.ohs) {
bool oIsGrasped = false;
// TODO: use the fact that the set is sorted.
// BOOST_FOREACH (const HandlePtr_t& h, o.get<1>())
for (index_t i = 0; i < o.get<1>().size(); ++i) {
if (idxsOH.erase (iOH) == 1) oIsGrasped = true;
++iOH;
}
if (!oIsGrasped)
relaxedPlacementManifold (o.get<0>().get<0>(),
o.get<0>().get<1>(),
o.get<0>().get<2>(),
nam.get<1>(), unused);
}
nam.get<1>().addToNode (nam.get<0>());
}
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/// Arguments are such that
/// \li gTo[iG] != gFrom[iG]
/// \li for all i != iG, gTo[iG] == gFrom[iG]
void makeEdge (Result& r,
const GraspV_t& gFrom, const GraspV_t& gTo,
const index_t iG)
{
const NodeAndManifold_t& from = makeNode (r, gFrom),
to = makeNode (r, gTo);
FoliatedManifold grasp, pregrasp, place, preplace;
graspManifold (r.gs[iG], r.handle (gTo[iG]),
grasp, pregrasp);
const Object_t& o = r.object (gTo[iG]);
relaxedPlacementManifold (o.get<0>().get<0>(),
o.get<0>().get<1>(),
o.get<0>().get<2>(),
place, preplace);
if (pregrasp.empty ()) {
if (preplace.empty ())
createEdges <GraspOnly | PlaceOnly> (
"forwName" , "backName",
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
from.get<1> ());
else {
hppDout (error, "GraspOnly | WithPrePlace not implemeted yet");
/*
createEdges <GraspOnly | WithPrePlace> (
"forwName" , "backName",
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
from.get<1> ()); // */
} else {
if (preplace.empty ())
createEdges <WithPreGrasp | PlaceOnly> (
"forwName" , "backName",
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
from.get<1> ());
else
createEdges <WithPreGrasp | WithPrePlace> (
"forwName" , "backName",
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
from.get<1> ());
/// idx are the available grippers
void recurseGrippers (Result& r,
const IndexV_t& idx_g, const IndexV_t& idx_oh,
const GraspV_t& grasps)
{
IndexV_t nIdx_g (idx_g.size() - 1);
IndexV_t nIdx_oh (idx_oh.size() - 1);
for (IndexV_t::const_iterator itx_g = idx_g.begin ();
itx_g != idx_g.end (); ++itx_g) {
// Copy all element except itx_g
std::copy (boost::next (itx_g), idx_g.end (),
std::copy (idx_g.begin (), itx_g, nIdx_g.begin ())
for (IndexV_t::const_iterator itx_oh = idx_oh.begin ();
itx_oh != idx_oh.end (); ++itx_oh) {
// Copy all element except itx_oh
std::copy (boost::next (itx_oh), idx_oh.end (),
std::copy (idx_oh.begin (), itx_oh, nIdx_oh.begin ())
);
// Create the edge for the selected grasp
GraspV_t nGrasps = grasps;
nGrasps [*itx_g] = *itx_oh;
makeEdge (r, grasps, nGrasps, *itx_g);
// Do all the possible combination below this new grasp
recurseGrippers (r, nIdx_oh, nIdx_oh, nGrasps);
}
}
}
}
void graphBuilder (
const Objects_t& objects,
const Grippers_t& grippers,
GraphPtr_t graph)
{
if (!graph) throw std::logic_error ("The graph must be initialized");
NodeSelectorPtr_t ns = graph->nodeSelector ();
if (!ns) throw std::logic_error ("The graph does not have a NodeSelector");
Result r (grippers, objects, graph);
IndexV_t availG (r.nG), availOH (r.nOH);
for (index_t i = 0; i < r.nG; ++i) availG[i] = i;
for (index_t i = 0; i < r.nOH; ++i) availOH[i] = i;
GraspV_t iG (r.nG, r.nOH);
recurseGrippers (r, availG, availOH, iG);
} // namespace graph
} // namespace manipulation
} // namespace hpp