From 15c4916c079df85004098ce428ae6c6fa3465cdf Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 8 Sep 2016 19:29:06 +0200
Subject: [PATCH] Graph builder: REFUSE (gripper, handle) when no rules apply.
* This does not apply to (gripper, NONE), in which case, the default is
* always ACCEPT
---
src/graph/helper.cc | 23 +++++++++++++++++------
1 file changed, 17 insertions(+), 6 deletions(-)
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 695dd18..b01a00f 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -562,10 +562,12 @@ namespace hpp {
const Grippers_t& gs;
const Objects_t& ohs;
CompiledRules_t rules;
+ CompiledRule::Result defaultAcceptationPolicy;
mutable Eigen::MatrixXi rulesCache;
Result (const Grippers_t& grippers, const Objects_t& objects, GraphPtr_t g) :
- graph (g), nG (grippers.size ()), nOH (0), gs (grippers), ohs (objects)
+ graph (g), nG (grippers.size ()), nOH (0), gs (grippers), ohs (objects),
+ defaultAcceptationPolicy (CompiledRule::Refuse)
{
BOOST_FOREACH (const Object_t& o, objects) {
nOH += o.get<1>().size();
@@ -591,12 +593,21 @@ namespace hpp {
const std::string& g = gs[i]->name(),
h = (idxOH[i] == nOH) ? "" : handle (idxOH[i])->name ();
if ((CompiledRule::Result)rulesCache(i, idxOH[i]) == CompiledRule::Undefined) {
- CompiledRule::Result status = CompiledRule::Accept;
+ CompiledRule::Result status = (idxOH[i] == nOH ? CompiledRule::Accept : defaultAcceptationPolicy);
for (std::size_t r = 0; r < rules.size(); ++r) {
- status = rules[r].check(g,h);
- if (status == CompiledRule::Accept) break;
- else if (status == CompiledRule::Refuse) break;
- status = CompiledRule::Accept;
+ switch (rules[r].check(g,h)) {
+ case CompiledRule::Accept:
+ status = CompiledRule::Accept;
+ break; // Exit loop
+ case CompiledRule::Refuse:
+ status = CompiledRule::Refuse;
+ break; // Exit loop
+ case CompiledRule::NoMatch:
+ continue; // Check next rule
+ default:
+ throw std::invalid_argument ("Rules are ill-defined.");
+ }
+ break;
}
rulesCache(i, idxOH[i]) = status;
}
--
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