Remove ConfigOptimization

CMakeLists.txt

@@ -100,7 +100,6 @@ SET (${PROJECT_NAME}_HEADERS
   include/hpp/manipulation/graph/helper.hh
 
   include/hpp/manipulation/path-optimization/small-steps.hh
-  include/hpp/manipulation/path-optimization/config-optimization.hh
   include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
   include/hpp/manipulation/path-optimization/keypoints.hh
   include/hpp/manipulation/path-optimization/spline-gradient-based.hh

include/hpp/manipulation/path-optimization/config-optimization.hh

-//
-// Copyright (c) 2015 CNRS
-// Authors: Joseph Mirabel
-//
-// 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/>.
-
-#ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
-# define HPP_MANIPULATION_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
-
-# include <hpp/core/path-optimization/config-optimization.hh>
-
-# include <hpp/manipulation/fwd.hh>
-
-namespace hpp {
-  namespace manipulation {
-    namespace pathOptimization {
-      /// \addtogroup path_optimization
-      /// \{
-
-      /// Optimize the waypoints of the path and optionally add the
-      /// constraint::ConfigurationConstraint to the ConfigProjector of the
-      /// path.
-      ///
-      /// See Parameters for information on how to tune the algorithm.
-      ///
-      /// \note The optimizer assumes that the input path is a vector of optimal
-      ///       paths for the distance function.
-      struct ConfigOptimizationTraits
-        : core::pathOptimization::ConfigOptimizationTraits {
-          typedef core::PathPtr_t PathPtr_t;
-
-          static size_type numberOfPass () { return 10; }
-
-          static size_type numberOfIterations () { return 1; }
-
-          static ConfigProjectorPtr_t getConfigProjector
-            (const PathPtr_t& before, const PathPtr_t& after, bool& reverse);
-        };
-      /// \}
-    } // namespace pathOptimization
-  } // namespace manipulation
-} // namespace hpp
-#endif // HPP_MANIPULATION_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH

src/CMakeLists.txt

@@ -46,7 +46,6 @@ SET(SOURCES
 
   graph/dot.cc
 
-  path-optimization/config-optimization.cc
   path-optimization/keypoints.cc
   path-optimization/spline-gradient-based.cc
   path-optimization/enforce-transition-semantic.cc

src/path-optimization/config-optimization.cc

-// Copyright (c) 2015, 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/path-optimization/config-optimization.hh>
-
-#include <hpp/util/pointer.hh>
-
-#include <hpp/core/path.hh>
-#include <hpp/core/config-projector.hh>
-#include <hpp/manipulation/device.hh>
-#include <hpp/manipulation/graph/state.hh>
-#include <hpp/manipulation/graph/edge.hh>
-#include <hpp/manipulation/constraint-set.hh>
-
-namespace hpp {
-  namespace manipulation {
-    namespace pathOptimization {
-      ConfigProjectorPtr_t ConfigOptimizationTraits::getConfigProjector
-        (const PathPtr_t& before, const PathPtr_t& after, bool& reverse)
-      {
-        ConstraintSetPtr_t setB =
-          HPP_STATIC_PTR_CAST (ConstraintSet, before->constraints ());
-        ConstraintSetPtr_t setA =
-          HPP_STATIC_PTR_CAST (ConstraintSet, after->constraints ());
-        assert (setA->edge () && setB->edge());
-        graph::GraphPtr_t graph = setA->edge()->parentGraph ();
-        /// Find if path were computed from init or goal config
-        /// There is a nasty case: when build a path fails partially, then you
-        /// end up where the edge->to() do not correspond to the node of
-        /// path->end(). In that case, path->end () should be in edge->node().
-        /// (obviously, in this case, we have edge->isInNodeFrom_ = true)
-        const bool reverseB = setB->edge ()->direction(before);
-        //const bool reverseA = setA->edge ()->direction(after);
-
-        reverse = reverseB;
-
-        ConfigProjectorPtr_t p = ConfigProjector::create (graph->robot(),
-            "intersect_" + setB->edge()->name() + "_" + setA->edge()->name(),
-            graph->errorThreshold (), graph->maxIterations ());
-
-        setB->edge()->intersectionConstraint (setA->edge (), p);
-
-        p->rightHandSideFromConfig (before->end ());
-        return p;
-      }
-    } // namespace pathOptimization
-  } // namespace manipulation
-} // namespace hpp

src/problem-solver.cc

@@ -52,7 +52,6 @@
 #include "hpp/manipulation/graph-optimizer.hh"
 #include "hpp/manipulation/graph-path-validation.hh"
 #include "hpp/manipulation/graph-node-optimizer.hh"
-#include "hpp/manipulation/path-optimization/config-optimization.hh"
 #include "hpp/manipulation/path-optimization/keypoints.hh"
 #include "hpp/manipulation/path-optimization/spline-gradient-based.hh"
 #include "hpp/manipulation/path-optimization/enforce-transition-semantic.hh"
@@ -75,15 +74,6 @@ namespace hpp {
           static bool removeLockedJoints () { return false; }
       };
 
-      template <typename InnerConfigOptimizationTraits>
-        struct GraphConfigOptimizationTraits {
-          static core::PathOptimizerPtr_t create (const core::Problem& problem)
-          {
-            return core::pathOptimization::ConfigOptimization::
-              createWithTraits <InnerConfigOptimizationTraits> (problem);
-          }
-        };
-
       template <typename ParentSM_t, typename ChildSM_t>
       core::SteeringMethodPtr_t createSMWithGuess
       (const core::Problem& problem)
@@ -126,14 +116,6 @@ namespace hpp {
           PartialShortcut::createWithTraits <PartialShortcutTraits>);
       pathOptimizers.add ("Graph-PartialShortcut",
           GraphOptimizer::create <core::pathOptimization::PartialShortcut>);
-      pathOptimizers.add ("ConfigOptimization",
-          core::pathOptimization::ConfigOptimization::createWithTraits
-          <pathOptimization::ConfigOptimizationTraits>);
-      pathOptimizers.add ("Graph-ConfigOptimization",
-          GraphOptimizer::create <
-          GraphConfigOptimizationTraits
-            <pathOptimization::ConfigOptimizationTraits>
-            >);
       pathOptimizers.add ("EnforceTransitionSemantic",
           pathOptimization::EnforceTransitionSemantic::create);