From 8a0dda20b9126a392780e62eeede7da28791c964 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 8 Oct 2015 16:56:14 +0200
Subject: [PATCH] Add optimizer Graph-ConfigOptimization
---
include/hpp/manipulation/graph-optimizer.hh | 6 +++---
src/problem-solver.cc | 14 ++++++++++++++
2 files changed, 17 insertions(+), 3 deletions(-)
diff --git a/include/hpp/manipulation/graph-optimizer.hh b/include/hpp/manipulation/graph-optimizer.hh
index 9b2c15eb..bd2456dc 100644
--- a/include/hpp/manipulation/graph-optimizer.hh
+++ b/include/hpp/manipulation/graph-optimizer.hh
@@ -49,7 +49,7 @@ namespace hpp {
public:
typedef core::ProblemSolver::PathOptimizerBuilder_t PathOptimizerBuilder_t;
- template <typename InnerPathOptimizer_t>
+ template <typename TraitsOrInnerType>
static GraphOptimizerPtr_t create (const core::Problem& problem);
virtual PathVectorPtr_t optimize (const PathVectorPtr_t& path);
@@ -80,12 +80,12 @@ namespace hpp {
/// \}
/// Member function definition
- template <typename InnerPathOptimizer_t>
+ template <typename TraitsOrInnerType>
GraphOptimizerPtr_t GraphOptimizer::create
(const core::Problem& problem)
{
return GraphOptimizerPtr_t (
- new GraphOptimizer (problem, InnerPathOptimizer_t::create)
+ new GraphOptimizer (problem, TraitsOrInnerType::create)
);
}
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index d9020524..3c792008 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -45,6 +45,15 @@ namespace hpp {
core::pathOptimization::PartialShortcutTraits {
static bool removeLockedJoints () { return false; }
};
+
+ template <typename InnerConfigOptimizationTraits>
+ struct GraphConfigOptimizationTraits {
+ static core::PathOptimizerPtr_t create (const core::Problem& problem)
+ {
+ return core::pathOptimization::ConfigOptimization::
+ createWithTraits <InnerConfigOptimizationTraits> (problem);
+ }
+ };
}
std::ostream& operator<< (std::ostream& os, const Device& robot)
@@ -67,6 +76,11 @@ namespace hpp {
addPathOptimizerType ("ConfigOptimization",
core::pathOptimization::ConfigOptimization::createWithTraits
<pathOptimization::ConfigOptimizationTraits>);
+ addPathOptimizerType ("Graph-ConfigOptimization",
+ GraphOptimizer::create <
+ GraphConfigOptimizationTraits
+ <pathOptimization::ConfigOptimizationTraits>
+ >);
pathPlannerType ("M-RRT");
pathValidationType ("Graph-discretized", 0.05);
}
--
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