From 4f2d5fcb0c21caea9c27e8ad2139e04e24190dca Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 10 Sep 2019 13:32:40 +0200
Subject: [PATCH] [CrossStateOptimization] Update documentation of class and
NEWS file.
---
NEWS | 2 ++
.../cross-state-optimization.hh | 34 +++++++++++++++++--
2 files changed, 33 insertions(+), 3 deletions(-)
diff --git a/NEWS b/NEWS
index 811baea..da741c0 100644
--- a/NEWS
+++ b/NEWS
@@ -1,4 +1,6 @@
-*- outline -*-
+* Rewrite steering method CrossStateOptimization
+ - decouple waypoint computations.
New in 4.6.0
* Add setter to relative motion matrix in edges.
* Add method Edge::neighborEdges.
diff --git a/include/hpp/manipulation/steering-method/cross-state-optimization.hh b/include/hpp/manipulation/steering-method/cross-state-optimization.hh
index 7490507..1c188d5 100644
--- a/include/hpp/manipulation/steering-method/cross-state-optimization.hh
+++ b/include/hpp/manipulation/steering-method/cross-state-optimization.hh
@@ -35,13 +35,14 @@ namespace hpp {
/// Optimization-based steering method.
///
- /// #### Methodology
+ /// #### Sketch of the method
///
/// Given two configuration \f$ (q_1,q_2) \f$, this class formulates and
/// solves the problem as follows.
/// - Compute the corresponding states \f$ (s_1, s_2) \f$.
- /// - For a each path \f$ (e_0, ... e_n) \f$ between \f$ (s_1, s_2) \f$
- /// in the constraint graph, do:
+ /// - For a each path \f$ (e_0, ... e_n) \f$ of length not more than
+ /// parameter "CrossStateOptimization/maxDepth" between
+ /// \f$ (s_1, s_2)\f$ in the constraint graph, do:
/// - define \f$ n-1 \f$ intermediate configuration \f$ p_i \f$,
/// - initialize the optimization problem, as explained below,
/// - solve the optimization problem, which gives \f$ p^*_i \f$,
@@ -55,6 +56,33 @@ namespace hpp {
/// - \f$ p_{n+1} = q_2 \f$,
/// - \f$ p_i \f$ is in state between \f$ (e_{i-1}, e_i) \f$, (\ref StateFunction)
/// - \f$ (p_i, p_{i+1}) \f$ are reachable with transition \f$ e_i \f$ (\ref EdgeFunction).
+ ///
+ /// #### Problem resolution
+ ///
+ /// One solver (hpp::constraints::solver::BySubstitution) is created
+ /// for each waypoint \f$p_i\f$.
+ /// - method buildOptimizationProblem builds a matrix the rows of which
+ /// are the parameterizable numerical constraints present in the
+ /// graph, and the columns of which are the waypoints. Each value in the
+ /// matrix defines the status of each constraint right hand side for
+ /// this waypoint, among {absent from the solver,
+ /// equal to value for previous waypoint,
+ /// equal to value for start configuration,
+ /// equal to value for end configuration}.
+ /// - method CrossStateOptimization::solveOptimizationProblem loops over
+ /// the waypoint solvers, solves for each waypoint after
+ /// initializing the right hand sides with the proper values.
+ /// - eventually method buildPath build paths between waypoints with
+ /// the constraints of the transition in which the path lies.
+ ///
+ /// #### Current status
+ ///
+ /// The method has been successfully tested with romeo holding a placard
+ /// and the construction set benchmarks. The result is satisfactory
+ /// except between pregrasp and grasp waypoints that may be far
+ /// away from each other if the transition between those state does
+ /// not contain the grasp complement constraint. The same holds
+ /// between placement and pre-placement.
class HPP_MANIPULATION_DLLAPI CrossStateOptimization :
public SteeringMethod
{
--
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