// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
#include "hpp/manipulation/graph-path-validation.hh"
#include <hpp/pinocchio/configuration.hh>
#include <hpp/core/path.hh>
#include <hpp/core/path-vector.hh>
#include <hpp/manipulation/graph/state.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph/graph.hh>
#include <hpp/manipulation/constraint-set.hh>
namespace hpp {
namespace manipulation {
GraphPathValidationPtr_t GraphPathValidation::create (const PathValidationPtr_t& pathValidation)
{
GraphPathValidation* p = new GraphPathValidation (pathValidation);
return GraphPathValidationPtr_t (p);
}
GraphPathValidation::GraphPathValidation (const PathValidationPtr_t& pathValidation) :
pathValidation_ (pathValidation), constraintGraph_ ()
{}
bool GraphPathValidation::validate (const PathPtr_t& path, bool reverse,
PathPtr_t& validPart,
PathValidationReportPtr_t& report)
{
assert (path);
bool success = impl_validate (path, reverse, validPart, report);
assert (constraintGraph_);
assert (constraintGraph_->getState (validPart->initial ()));
assert (constraintGraph_->getState (validPart->end ()));
return success;
}
bool GraphPathValidation::impl_validate (const PathVectorPtr_t& path,
bool reverse, PathPtr_t& validPart, PathValidationReportPtr_t& report)
{
PathPtr_t validSubPart;
if (reverse) {
// TODO: This has never been tested.
assert (!reverse && "This has never been tested with reverse path");
for (long int i = path->numberPaths () - 1; i >= 0; i--) {
// We should stop at the first non valid subpath.
if (!impl_validate (path->pathAtRank (i), true, validSubPart, report)) {
PathVectorPtr_t p = PathVector::create
(path->outputSize(), path->outputDerivativeSize());
for (long int v = path->numberPaths () - 1; v > i; v--)
p->appendPath (path->pathAtRank(i)->copy());
// TODO: Make sure this subpart is generated by the steering method.
p->appendPath (validSubPart);
validPart = p;
return false;
}
}
} else {
for (size_t i = 0; i != path->numberPaths (); i++) {
// We should stop at the first non valid subpath.
if (!impl_validate (path->pathAtRank (i), false, validSubPart, report)) {
PathVectorPtr_t p = PathVector::create
(path->outputSize(), path->outputDerivativeSize());
for (size_t v = 0; v < i; v++)
p->appendPath (path->pathAtRank(v)->copy());
// TODO: Make sure this subpart is generated by the steering method.
p->appendPath (validSubPart);
validPart = p;
return false;
}
}
}
// Here, every subpath is valid.
validPart = path;
return true;
}
bool GraphPathValidation::impl_validate (const PathPtr_t& path,
bool reverse, PathPtr_t& validPart, PathValidationReportPtr_t& report)
{
#ifndef NDEBUG
bool success;
Configuration_t q0 = path->eval(path->timeRange ().second, success);
assert (success);
assert (!path->constraints () || path->constraints ()->isSatisfied (q0));
#endif
using pinocchio::displayConfig;
PathVectorPtr_t pathVector = HPP_DYNAMIC_PTR_CAST(PathVector, path);
if (pathVector)
return impl_validate (pathVector, reverse, validPart, report);
PathPtr_t pathNoCollision;
ConstraintSetPtr_t c = HPP_DYNAMIC_PTR_CAST(ConstraintSet, path->constraints());
hppDout(info, (c?"Using edge path validation":"Using default path validation"));
PathValidationPtr_t validation (c
? c->edge()->pathValidation()
: pathValidation_);
if (validation->validate (path, reverse, pathNoCollision, report)) {
validPart = path;
return true;
}
const Path& newPath (*pathNoCollision);
const Path& oldPath (*path);
const core::interval_t& newTR = newPath.timeRange (),
oldTR = oldPath.timeRange ();
Configuration_t q (newPath.outputSize());
if (!newPath (q, newTR.first))
throw std::logic_error ("Initial configuration of the valid part cannot be projected.");
const graph::StatePtr_t& origState = constraintGraph_->getState (q);
if (!newPath (q, newTR.second))
throw std::logic_error ("End configuration of the valid part cannot be projected.");
// This may throw in the following case:
// - state constraints: object_placement + other_function
// - path constraints: other_function, object_lock
// This is semantically correct but for a path going from q0 to q1,
// we ensure that
// - object_placement (q0) = eps_place0
// - other_function (q0) = eps_other0
// - eps_place0 + eps_other0 < eps
// - other_function (q(s)) < eps
// - object_placement (q(s)) = object_placement (q0) # thanks to the object_lock
// So we only have:
// - other_function (q(s)) + object_placement (q(s)) < eps + eps_place0
// And not:
// - other_function (q(s)) + object_placement (q(s)) < eps
// In this case, there is no good way to recover. Just return failure.
graph::StatePtr_t destState;
try {
destState = constraintGraph_->getState (q);
} catch (const std::logic_error& e) {
ConstraintSetPtr_t c = HPP_DYNAMIC_PTR_CAST(ConstraintSet, path->constraints());
hppDout (error, "Edge " << c->edge()->name()
<< " generated an error: " << e.what());
hppDout (error, "Likely, the constraints for paths are relaxed. If "
"this problem occurs often, you may want to use the same "
"constraints for state and paths in " << c->edge()->state()->name());
validPart = path->extract (std::make_pair (oldTR.first,oldTR.first));
return false;
}
if (!oldPath (q, oldTR.first)) {
std::stringstream oss;
oss << "Initial configuration of the path to be validated failed to"
" be projected. After maximal number of iterations, q="
<< displayConfig (q) << "; error=";
vector_t error;
oldPath.constraints ()->isSatisfied (q, error);
oss << displayConfig (error) << ".";
throw std::logic_error (oss.str ().c_str ());
}
const graph::StatePtr_t& oldOstate = constraintGraph_->getState (q);
if (!oldPath (q, oldTR.second)) {
std::stringstream oss;
oss << "End configuration of the path to be validated failed to"
" be projected. After maximal number of iterations, q="
<< displayConfig (q) << "; error=";
vector_t error;
oldPath.constraints ()->isSatisfied (q, error);
oss << displayConfig (error) << ".";
throw std::logic_error (oss.str ().c_str ());
}
const graph::StatePtr_t& oldDstate = constraintGraph_->getState (q);
if (origState == oldOstate && destState == oldDstate) {
validPart = pathNoCollision;
return false;
}
// Here, the full path is not valid. Moreover, it does not correspond to the same
// edge of the constraint graph. Two option are possible:
// - Use the steering method to create a new path and validate it.
// - Return a null path.
// validPart = path->extract (std::make_pair (oldTR.first,oldTR.first));
validPart = pathNoCollision;
return false;
}
} // namespace manipulation
} // namespace hpp