// 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 <boost/array.hpp>
#include <boost/foreach.hpp>
#include <boost/assign/list_of.hpp>
#include <hpp/util/debug.hh>
#include <hpp/model/gripper.hh>
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/manipulation/handle.hh>
#include <hpp/manipulation/graph/node.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph/node-selector.hh>
#include <hpp/manipulation/graph/guided-node-selector.hh>
#include <hpp/manipulation/problem-solver.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 (*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 (*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)
if (*it && (*it)->numberDof() > 0)
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)
if (*it && (*it)->numberDof() > 0)
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)
if (*it && (*it)->numberDof() > 0)
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);
}
namespace {
template <int gCase>
struct CaseTraits {
static const bool pregrasp = (gCase & WithPreGrasp);
static const bool intersec = !((gCase & NoGrasp) || (gCase & NoPlace));
static const bool preplace = (gCase & WithPrePlace);
static const bool valid = !(gCase == (NoGrasp | NoPlace));
static const std::size_t nbWaypoints = (pregrasp?1:0) + (intersec?1:0) + (preplace?1:0);
static const std::size_t Nnodes = 2 + nbWaypoints;
static const std::size_t Nedges = 1 + nbWaypoints;
// static const std::size_t iNpregrasp = pregrasp?1 + 1:nbWaypoints;
// static const std::size_t iNpreplace = pregrasp?1 + 1:nbWaypoints;
typedef boost::array <NodePtr_t, Nnodes> NodeArray;
typedef boost::array <EdgePtr_t, Nedges> EdgeArray;
static inline const NodePtr_t& Npregrasp (const NodeArray& n)
{
assert (pregrasp); return n[1];
}
static inline const NodePtr_t& Nintersec (const NodeArray& n)
{
assert (intersec); return n[1 + (pregrasp?1:0)];
}
static inline const NodePtr_t& Npreplace (const NodeArray& n)
{
assert (preplace); return n[1 + (pregrasp?1:0) + (intersec?1:0)];
}
static inline EdgePtr_t makeWE (
const std::string& name,
const NodePtr_t& from, const NodePtr_t& to,
const size_type& w)
{
if (Nedges > 1) {
WaypointEdgePtr_t we = boost::static_pointer_cast <WaypointEdge>
(from->linkTo (name, to, w, WaypointEdge::create));
we->nbWaypoints (nbWaypoints);
return we;
} else return from->linkTo (name, to, w, Edge::create);
}
static inline NodeArray makeWaypoints (
const NodePtr_t& from, const NodePtr_t& to,
const std::string& name)
{
NodeSelectorPtr_t ns = from->parentGraph ()->nodeSelector ();
NodeArray nodes;
std::size_t r = 0;
nodes[r] = from; ++r;
if (pregrasp) {
nodes[r] = ns->createNode (name + "_pregrasp", true); ++r;
}
if (intersec) {
nodes[r] = ns->createNode (name + "_intersec", true); ++r;
}
if (preplace) {
nodes[r] = ns->createNode (name + "_preplace", true); ++r;
}
nodes[r] = to;
return nodes;
}
static inline EdgePtr_t makeLSEgrasp (const std::string& name,
const NodeArray& n, const EdgeArray& e,
const size_type w, LevelSetEdgePtr_t& gls)
{
if (Nedges > 1) {
const std::size_t T = (pregrasp?1:0) + (intersec?1:0);
WaypointEdgePtr_t we = boost::static_pointer_cast <WaypointEdge>
(n.front()->linkTo (name + "_ls", n.back(), w,
WaypointEdge::create));
we->nbWaypoints (nbWaypoints);
gls = linkWaypoint <LevelSetEdge> (n, T-1, T, name, "ls");
for (std::size_t i = 0; i < Nedges - 1; ++i)
we->setWaypoint (Nedges - 1 - i, e[i], n[i]);
we->setWaypoint (T-1, gls, n[T]);
gls->node (n.front());
gls->setShort (preplace);
return we;
} else {
assert (gCase == (GraspOnly | NoPlace)
&& "Cannot implement a LevelSetEdge for grasping");
gls = boost::static_pointer_cast <LevelSetEdge>
(n.front()->linkTo (name + "_ls", n.back(), w,
LevelSetEdge::create));
return gls;
}
}
static inline EdgePtr_t makeLSEplace (const std::string& name,
const NodeArray& n, const EdgeArray& e,
const size_type w, LevelSetEdgePtr_t& pls)
{
if (Nedges > 1) {
const std::size_t T = (pregrasp?1:0) + (intersec?1:0);
WaypointEdgePtr_t we = boost::static_pointer_cast <WaypointEdge>
(n.back()->linkTo (name + "_ls", n.front(), w,
WaypointEdge::create));
we->nbWaypoints (nbWaypoints);
pls = linkWaypoint <LevelSetEdge> (n, T+1, T, name, "ls");
for (std::size_t i = Nedges - 1; i != 0; --i)
we->setWaypoint (Nedges - 1 - i, e[i], n[i]);
we->setWaypoint (Nedges - 1 - T, pls, n[T]);
pls->node (n.back ());
pls->setShort (preplace);
return we;
} else {
assert (gCase == (GraspOnly | NoPlace)
&& "Cannot implement a LevelSetEdge for grasping");
pls = boost::static_pointer_cast <LevelSetEdge>
(n.back()->linkTo (name + "_ls", n.front(), w,
LevelSetEdge::create));
return pls;
}
}
template <typename EdgeType>
static inline boost::shared_ptr<EdgeType> linkWaypoint (
const NodeArray& nodes,
const std::size_t& iF, const std::size_t& iT,
const std::string& prefix,
const std::string& suffix = "")
{
std::stringstream ss;
ss << prefix << "_" << iF << iT;
if (suffix.length () > 0) ss << "_" << suffix;
return boost::static_pointer_cast <EdgeType>
(nodes[iF]->linkTo (ss.str(), nodes[iT], -1, EdgeType::create));
}
template <bool forward>
static inline EdgeArray linkWaypoints (
const NodeArray& nodes, const EdgePtr_t& edge,
const std::string& name)
{
EdgeArray e;
WaypointEdgePtr_t we = HPP_DYNAMIC_PTR_CAST(WaypointEdge, edge);
if (forward)
for (std::size_t i = 0; i < Nedges - 1; ++i) {
e[i] = linkWaypoint <Edge> (nodes, i, i + 1, name);
we->setWaypoint (i, e[i], nodes[i+1]);
}
else
for (std::size_t i = Nedges - 1; i != 0; --i) {
e[i] = linkWaypoint <Edge> (nodes, i + 1, i, name);
we->setWaypoint (Nedges - 1 - i, e[i], nodes[i]);
}
e[(forward?Nedges - 1:0)] = we;
return e;
}
static inline void setNodeConstraints (const NodeArray& n,
const FoliatedManifold& g, const FoliatedManifold& pg,
const FoliatedManifold& p, const FoliatedManifold& pp,
const FoliatedManifold& m)
{
// From and to are not populated automatically
// to avoid duplicates.
if (pregrasp) {
p .addToNode (Npregrasp (n));
pg.addToNode (Npregrasp (n));
m .addToNode (Npregrasp (n));
}
if (intersec) {
p .addToNode (Nintersec (n));
g .addToNode (Nintersec (n));
m .addToNode (Nintersec (n));
}
if (preplace) {
pp.addToNode (Npreplace (n));
g .addToNode (Npreplace (n));
m .addToNode (Npreplace (n));
}
}
static inline void setEdgeConstraints (const EdgeArray& e,
const FoliatedManifold& g, const FoliatedManifold& p,
const FoliatedManifold& m)
{
// The border B
const std::size_t B = (pregrasp?1:0) + (intersec?1:0);
for (std::size_t i = 0; i < B ; ++i) p.addToEdge (e[i]);
for (std::size_t i = B; i < Nedges; ++i) g.addToEdge (e[i]);
for (std::size_t i = 0; i < Nedges; ++i) m.addToEdge (e[i]);
}
template <bool forward>
static inline void setEdgeProp
(const EdgeArray& e, const NodeArray& n)
{
/// Last is short
const std::size_t K = (forward?1:0);
for (std::size_t i = K; i < Nedges - 1 + K; ++i)
e[i]->setShort (true);
// The border B
std::size_t B;
if ((gCase & NoGrasp)) // There is no grasp
B = 0;
else // There is a grasp
B = 1 + (pregrasp?1:0);
for (std::size_t i = 0; i < B ; ++i) e[i]->node (n[0]);
for (std::size_t i = B; i < Nedges; ++i) e[i]->node (n[Nnodes-1]);
}
};
}
template <int gCase> Edges_t createEdges (
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)
{
typedef CaseTraits<gCase> T;
assert (T::valid && "Not a valid case.");
typedef typename T::NodeArray NodeArray;
typedef typename T::EdgeArray EdgeArray;
// Create the edges
EdgePtr_t weForw = T::makeWE (forwName, from, to, wForw),
weBack = T::makeWE (backName, to, from, wBack),
weForwLs, weBackLs;
std::string name = forwName;
NodeArray n = T::makeWaypoints (from, to, name);
EdgeArray eF = T::template linkWaypoints <true> (n, weForw, name);
// Set the nodes constraints
// Note that submanifold is not taken into account for nodes
// because the edges constraints will enforce configuration to stay
// in a leaf, and so in the manifold itself.
T::setNodeConstraints (n, grasp, pregrasp, place, preplace,
submanifoldDef);
// Set the edges properties
T::template setEdgeProp <true> (eF, n);
// Set the edges constraints
T::setEdgeConstraints (eF, grasp, place, submanifoldDef);
LevelSetEdgePtr_t gls;
if (levelSetGrasp)
weForwLs = T::makeLSEgrasp (name, n, eF, 10*wForw, gls);
// Populate bacward edge
name = backName;
EdgeArray eB = T::template linkWaypoints <false> (n, weBack, name);
T::template setEdgeProp <false> (eB, n);
T::setEdgeConstraints (eB, grasp, place, submanifoldDef);
LevelSetEdgePtr_t pls;
if (levelSetPlace)
weBackLs = T::makeLSEplace (name, n, eB, 10*wBack, pls);
Edges_t ret = boost::assign::list_of (weForw)(weBack);
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");
}
grasp.addToEdge (pls);
place.specifyFoliation (pls);
submanifoldDef.addToEdge (pls);
pls->buildHistogram ();
place.addToEdge (weBackLs);
submanifoldDef.addToEdge (weBackLs);
ret.push_back (weBackLs);
}
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");
}
place.addToEdge (gls);
grasp.specifyFoliation (gls);
submanifoldDef.addToEdge (gls);
gls->buildHistogram ();
grasp.addToEdge (weForwLs);
submanifoldDef.addToEdge (weForwLs);
ret.push_back (weForwLs);
}
return ret;
}
EdgePtr_t createLoopEdge (
const std::string& loopName,
const NodePtr_t& node,
const size_type& w,
const bool levelSet,
const FoliatedManifold& submanifoldDef)
{
// Create the edges
EdgePtr_t loop;
if (levelSet)
loop = node->linkTo (loopName, node, w, LevelSetEdge::create);
else loop = node->linkTo (loopName, node, w, Edge::create);
loop->node (node);
submanifoldDef.addToEdge (loop);
if (levelSet) {
if (!submanifoldDef.foliated ()) {
hppDout (warning, "You asked for a LevelSetEdge for looping, "
"but did not specify the target foliation. "
"It will have no effect");
}
LevelSetEdgePtr_t ls = HPP_DYNAMIC_PTR_CAST (LevelSetEdge, loop);
submanifoldDef.specifyFoliation (ls);
ls->buildHistogram ();
}
return loop;
}
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)
{
if (placement) {
place.nc.nc.push_back (placement);
place.nc.pdof.push_back (SizeIntervals_t());
// The placement constraints are not required in the path, as long as
// they are satisfied at both ends and the object does not move. The
// former condition is ensured by the placement constraints on both
// ends and the latter is ensure by the LockedJoint constraints.
place.nc_path.nc.push_back (placement);
place.nc_path.pdof.push_back (SizeIntervals_t());
}
std::copy (objectLocks.begin(), objectLocks.end(), std::back_inserter(place.lj_fol));
if (placement && preplacement) {
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());
}
}
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;
std::vector< boost::array<NumericalConstraintPtr_t,3> > graspCs;
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));
graspCs.resize (nG * nOH);
}
NodeAndManifold_t& operator() (const GraspV_t& iG)
{
index_t iGOH = iG[0];
for (index_t i = 1; i < nG; ++i)
iGOH += dims[i] * (iG[i]);
return nodes [iGOH];
}
inline boost::array<NumericalConstraintPtr_t,3>& graspConstraint (
const index_t& iG, const index_t& iOH)
{
boost::array<NumericalConstraintPtr_t,3>& gcs =
graspCs [iG * nOH + iOH];
if (!gcs[0]) {
hppDout (info, "Create grasps constraints for ("
<< iG << ", " << iOH << ")");
const GripperPtr_t& g (gs[iG]);
const HandlePtr_t& h (handle (iOH));
gcs[0] = h->createGrasp (g);
gcs[1] = h->createGraspComplement (g);
const value_type c = h->clearance () + g->clearance ();
gcs[2] = h->createPreGrasp (g, c);
}
return gcs;
}
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");
}
/// Check is an object is grasped by the GraspV_t
bool isObjectGrasped (const GraspV_t& idxOH,
const Object_t& o) const
{
assert (idxOH.size () == nG);
for (std::size_t i = 0; i < idxOH.size (); ++i)
if (idxOH[i] < nOH) // This grippers grasps an object
if (o.get<2>() == object(idxOH[i]).get<2>())
return true;
return false;
}
/// Get a node name from a set of grasps
std::string name (const GraspV_t& idxOH, bool abbrev = false) const {
assert (idxOH.size () == nG);
std::stringstream ss;
bool first = true;
std::string sepGOH = (abbrev?"-":" grasps "),
sep = (abbrev?":":" : ");
for (std::size_t i = 0; i < idxOH.size (); ++i) {
if (idxOH[i] < nOH) { // This grippers grasps an object
if (first) first = false; else ss << sep;
if (abbrev) ss << i << sepGOH << idxOH[i];
else
ss << gs[i]->name() << sepGOH << handle (idxOH[i])->name ();
}
}
if (first) return (abbrev?"f":"free");
return ss.str();
}
/// Get an edge name from a set of grasps
std::pair<std::string, std::string> name
(const GraspV_t& gFrom, const GraspV_t& gTo, const index_t iG)
{
const std::string nf (name (gFrom, true)),
nt (name (gTo, true));
std::stringstream ssForw, ssBack;
const char sep[] = " | ";
ssForw << gs[iG]->name() << " > " << handle (gTo[iG])->name () << sep << nf;
ssBack << gs[iG]->name() << " < " << handle (gTo[iG])->name () << sep << nt;
return std::make_pair (ssForw.str(), ssBack.str ());
}
std::string nameLoopEdge (const GraspV_t& gFrom)
{
const std::string nf (name (gFrom, true));
std::stringstream ss;
const char sep[] = " | ";
ss << "Loop" << sep << nf;
return ss.str();
}
void graspManifold (const index_t& iG, const index_t& iOH,
FoliatedManifold& grasp, FoliatedManifold& pregrasp)
{
boost::array<NumericalConstraintPtr_t,3>& gcs
= graspConstraint (iG, iOH);
grasp.nc.nc.push_back (gcs[0]);
grasp.nc.pdof.push_back (SizeIntervals_t ());
grasp.nc_path.nc.push_back (gcs[0]);
// TODO: see function declaration
grasp.nc_path.pdof.push_back (SizeIntervals_t ());
if (gcs[1]->function ().outputSize () > 0) {
grasp.nc_fol.nc.push_back (gcs[1]);
grasp.nc_fol.pdof.push_back (SizeIntervals_t());
}
pregrasp.nc.nc.push_back (gcs[2]);
pregrasp.nc.pdof.push_back (SizeIntervals_t());
pregrasp.nc_path.nc.push_back (gcs[2]);
pregrasp.nc_path.pdof.push_back (SizeIntervals_t());
}
};
const NodeAndManifold_t& makeNode (Result& r, const GraspV_t& g,
const int priority)
{
NodeAndManifold_t& nam = r (g);
if (!nam.get<0>()) {
hppDout (info, "Creating node " << r.name (g));
nam.get<0>() = r.graph->nodeSelector ()->createNode
(r.name (g), false, priority);
// 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]);
r.graspManifold (i, 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>());
createLoopEdge (r.nameLoopEdge (g),
nam.get<0>(), 0,
false,
// TODO nam.get<1>().foliated(),
nam.get<1>());
}
return nam;
}
/// 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 int priority)
{
const NodeAndManifold_t& from = makeNode (r, gFrom, priority),
to = makeNode (r, gTo, priority+1);
const Object_t& o = r.object (gTo[iG]);
/// Detect when grasping an object already grasped.
bool noPlace = r.isObjectGrasped (gFrom, o);
FoliatedManifold grasp, pregrasp, place, preplace,
submanifold;
r.graspManifold (iG, gTo[iG], grasp, pregrasp);
if (!noPlace) {
relaxedPlacementManifold (o.get<0>().get<0>(),
o.get<0>().get<1>(),
o.get<0>().get<2>(),
place, preplace);
}
std::pair<std::string, std::string> names =
r.name (gFrom, gTo, iG);
{
FoliatedManifold unused;
std::set <index_t> idxsOH;
for (index_t i = 0; i < r.nG; ++i) {
if (gFrom[i] < r.nOH) {
idxsOH.insert (gFrom[i]);
r.graspManifold (i, gFrom[i], submanifold, unused);
}
}
index_t iOH = 0;
BOOST_FOREACH (const Object_t& o, r.ohs) {
bool oIsGrasped = false;
const index_t iOHstart = iOH;
for (; iOH < iOHstart + o.get<1>().size(); ++iOH) {
if (iOH == gTo [iG]) {
oIsGrasped = true;
iOH = iOHstart + o.get<1>().size();
break;
}
if (idxsOH.erase (iOH) == 1) oIsGrasped = true;
}
if (!oIsGrasped)
relaxedPlacementManifold (o.get<0>().get<0>(),
o.get<0>().get<1>(),
o.get<0>().get<2>(),
submanifold, unused);
}
}
if (pregrasp.empty ()) {
if (noPlace)
createEdges <GraspOnly | NoPlace> (
names.first , names.second,
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
submanifold);
else if (preplace.empty ())
createEdges <GraspOnly | PlaceOnly> (
names.first , names.second,
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
submanifold);
else {
hppDout (error, "GraspOnly | WithPrePlace not implemeted yet");
/*
createEdges <GraspOnly | WithPrePlace> (
names.first , names.second,
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
submanifold); // */
}
} else {
if (noPlace)
createEdges <WithPreGrasp | NoPlace> (
names.first , names.second,
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
submanifold);
else if (preplace.empty ())
createEdges <WithPreGrasp | PlaceOnly> (
names.first , names.second,
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
submanifold);
else
createEdges <WithPreGrasp | WithPrePlace> (
names.first , names.second,
from.get<0> () , to.get<0>(),
1 , 1,
grasp , pregrasp,
place , preplace,
grasp.foliated () , place.foliated(),
submanifold);
}
}
/// idx are the available grippers
void recurseGrippers (Result& r,
const IndexV_t& idx_g, const IndexV_t& idx_oh,
const GraspV_t& grasps, const int depth)
{
if (idx_g.empty () || idx_oh.empty ()) return;
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) {
// Create the edge for the selected grasp
GraspV_t nGrasps = grasps;
nGrasps [*itx_g] = *itx_oh;
makeEdge (r, grasps, nGrasps, *itx_g, depth);
// 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 ())
);
// Do all the possible combination below this new grasp
recurseGrippers (r, nIdx_g, nIdx_oh, nGrasps, depth + 2);
}
}
}
}
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, 0);
}
GraphPtr_t graphBuilder (
const ProblemSolverPtr_t& ps,
const std::string& graphName,
const StringList_t& griNames,
const std::list <ObjectDef_t>& objs,
const StringList_t& envNames,
const std::vector <Rule>& rules,
const value_type& prePlaceWidth)
{
const Device& robot = *(ps->robot ());
Grippers_t grippers (griNames.size());
index_t i = 0;
BOOST_FOREACH (const std::string& gn, griNames) {
grippers[i] = robot.get <GripperPtr_t> (gn);
++i;
}
Objects_t objects (objs.size());
i = 0;
const value_type margin = 1e-3;
bool prePlace = (prePlaceWidth > 0);
BOOST_FOREACH (const ObjectDef_t& od, objs) {
// Create handles
objects[i].get<2> () = i;
objects[i].get<1> ().resize (od.handles.size());
Handles_t::iterator it = objects[i].get<1> ().begin();
BOOST_FOREACH (const std::string hn, od.handles) {
*it = robot.get <HandlePtr_t> (hn);
++it;
}
// Create placement
if (!envNames.empty() && !od.shapes.empty ()) {
const std::string placeN = "place_" + od.name;
ps->createPlacementConstraint (placeN,
od.shapes, envNames, margin);
objects[i].get<0> ().get<0> () =
ps->core::ProblemSolver::get <NumericalConstraintPtr_t> (placeN);
if (prePlace) {
ps->createPrePlacementConstraint ("pre" + placeN,
od.shapes, envNames, margin, prePlaceWidth);
objects[i].get<0> ().get<1> () =
ps->core::ProblemSolver::get <NumericalConstraintPtr_t> ("pre" + placeN);
}
}
// Create object lock
using model::JointVector_t;
assert (robot.has <JointVector_t> (od.name));
BOOST_FOREACH (const JointPtr_t& oj, robot.get<JointVector_t> (od.name)) {
LockedJointPtr_t lj = core::LockedJoint::create (oj,
robot.currentConfiguration()
.segment (oj->rankInConfiguration (), oj->configSize ()));
ps->ProblemSolver::ThisC_t::add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
objects[i].get<0> ().get<2> ().push_back (lj);
}
++i;
}
GraphPtr_t graph = Graph::create (graphName,
ps->robot(), ps->problem());
graph->nodeSelector (
GuidedNodeSelector::create ("nodeSelector",
ps->roadmap ()));
graph->maxIterations (ps->maxIterations ());
graph->errorThreshold (ps->errorThreshold ());
graphBuilder (objects, grippers, graph);
ps->constraintGraph (graph);
return graph;
}
} // namespace helper
} // namespace graph
} // namespace manipulation
} // namespace hpp