// 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/core/path-vector.hh>
#include <hpp/core/path.hh>
#include <hpp/manipulation/constraint-set.hh>
#include <hpp/manipulation/graph/edge.hh>
#include <hpp/manipulation/graph/graph.hh>
#include <hpp/manipulation/graph/state.hh>
#include <hpp/pinocchio/configuration.hh>
#ifdef HPP_DEBUG
#include <hpp/manipulation/graph/state.hh>
#endif
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