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  • gsaurel/hpp-manipulation
  • humanoid-path-planner/hpp-manipulation
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.git-blame-ignore-revs 0 → 100644
View file @ 539aab52
# format (Guilhem Saurel, 2022-05-31)
fa649fc248b998a890e2730d8b56b238ca1e29df
# format (Guilhem Saurel, 2022-04-19)
2504d66d880b757858a5d90d2c7e4bf98e6e6139
# pre-commit run -a (Guilhem Saurel, 2022-10-05)
ccd75ad4f6e33d1690353b17383f4bca6dab2907
.github/workflows/nix.yml 0 → 100644
View file @ 539aab52
name: "CI - Nix"
on:
push:
jobs:
tests:
name: "Nix build on ${{ matrix.os }}"
runs-on: "${{ matrix.os }}-latest"
strategy:
matrix:
os: [ubuntu]
steps:
- uses: actions/checkout@v4
- uses: cachix/install-nix-action@v27
- uses: cachix/cachix-action@v15
with:
name: gepetto
authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
- run: nix build -L
.gitlab-ci.yml
View file @ 539aab52
include: http://rainboard.laas.fr/project/hpp-manipulation/.gitlab-ci.yml
include: https://rainboard.laas.fr/project/hpp-manipulation/.gitlab-ci.yml
.gitmodules
View file @ 539aab52
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.mergify.yml 0 → 100644
View file @ 539aab52
pull_request_rules:
- name: merge automatically when CI passes and PR is approved
conditions:
- check-success = "gitlab-ci"
- check-success = "Nix build on ubuntu"
- check-success = "pre-commit.ci - pr"
- or:
- author = pre-commit-ci[bot]
- author = dependabot[bot]
actions:
merge:
.pre-commit-config.yaml 0 → 100644
View file @ 539aab52
ci:
autoupdate_branch: devel
repos:
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.8.1
hooks:
- id: ruff
args:
- --fix
- --exit-non-zero-on-fix
- id: ruff-format
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
- repo: https://github.com/pappasam/toml-sort
rev: v0.24.2
hooks:
- id: toml-sort-fix
exclude: poetry.lock
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v19.1.4
hooks:
- id: clang-format
args:
- --style=Google
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v5.0.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
CMakeLists.txt
View file @ 539aab52
#
# Copyright (c) 2014, 2020 CNRS
# Authors: Florent Lamiraux, Guilhem Saurel
# Copyright (c) 2014, 2020 CNRS Authors: Florent Lamiraux, Guilhem Saurel
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 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.
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 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/>.
CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
SET(PROJECT_NAME hpp-manipulation)
SET(PROJECT_DESCRIPTION "Classes for manipulation planning.")
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CXX_DISABLE_WERROR TRUE)
INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/test.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
# Ask Doxygen to create a tree view in html documentation
SET(DOXYGEN_TREEVIEW "NO" CACHE STRING "Set to YES to generate a tree view in the html documentation")
SET(HPP_MANIPULATION_HAS_WHOLEBODY_STEP TRUE
CACHE BOOL "Compile with dependency to hpp-wholebody-step")
SET(BOOST_COMPONENTS unit_test_framework regex)
SEARCH_FOR_BOOST()
ADD_PROJECT_DEPENDENCY("hpp-core" REQUIRED)
IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
ADD_PROJECT_DEPENDENCY("hpp-wholebody-step" REQUIRED)
ENDIF()
IF(BUILD_TESTING)
ADD_PROJECT_DEPENDENCY("example-robot-data" REQUIRED)
ENDIF()
CONFIG_FILES(doc/main.hh
include/hpp/manipulation/package-config.hh)
SET(${PROJECT_NAME}_HEADERS
${CMAKE_BINARY_DIR}/include/hpp/manipulation/package-config.hh
include/hpp/manipulation/fwd.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/problem.hh
include/hpp/manipulation/problem-solver.hh
include/hpp/manipulation/device.hh
include/hpp/manipulation/weighed-distance.hh
include/hpp/manipulation/constraint-set.hh
include/hpp/manipulation/roadmap.hh
include/hpp/manipulation/roadmap-node.hh
include/hpp/manipulation/connected-component.hh
include/hpp/manipulation/leaf-connected-comp.hh
include/hpp/manipulation/manipulation-planner.hh
include/hpp/manipulation/graph-path-validation.hh
include/hpp/manipulation/graph-optimizer.hh
include/hpp/manipulation/graph/state.hh
include/hpp/manipulation/graph/edge.hh
include/hpp/manipulation/graph/state-selector.hh
include/hpp/manipulation/graph/guided-state-selector.hh
include/hpp/manipulation/graph/graph.hh
include/hpp/manipulation/graph/statistics.hh
include/hpp/manipulation/graph/graph-component.hh
include/hpp/manipulation/graph/fwd.hh
include/hpp/manipulation/graph/dot.hh
include/hpp/manipulation/graph/helper.hh
include/hpp/manipulation/graph/validation.hh
include/hpp/manipulation/path-optimization/small-steps.hh
include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
include/hpp/manipulation/path-optimization/random-shortcut.hh
include/hpp/manipulation/path-optimization/spline-gradient-based.hh
include/hpp/manipulation/path-planner/end-effector-trajectory.hh
include/hpp/manipulation/problem-target/state.hh
include/hpp/manipulation/steering-method/cross-state-optimization.hh
include/hpp/manipulation/steering-method/fwd.hh
include/hpp/manipulation/steering-method/graph.hh
include/hpp/manipulation/steering-method/end-effector-trajectory.hh
)
SET(${PROJECT_NAME}_SOURCES
src/handle.cc
src/manipulation-planner.cc
src/problem-solver.cc
src/roadmap.cc
src/connected-component.cc
src/leaf-connected-comp.cc
src/constraint-set.cc
src/roadmap-node.cc
src/device.cc
src/weighed-distance.cc
src/problem.cc
src/graph-path-validation.cc
src/graph-optimizer.cc
src/graph/state.cc
src/graph/edge.cc
src/graph/graph.cc
src/graph/graph-component.cc
src/graph/state-selector.cc
src/graph/guided-state-selector.cc
src/graph/statistics.cc
src/graph/helper.cc
src/graph/dot.cc
src/graph/validation.cc
src/path-optimization/random-shortcut.cc
src/path-optimization/enforce-transition-semantic.cc
src/path-planner/end-effector-trajectory.cc
src/problem-target/state.cc
src/steering-method/end-effector-trajectory.cc
src/steering-method/cross-state-optimization.cc
src/steering-method/graph.cc
)
IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
SET(${PROJECT_NAME}_SOURCES
${${PROJECT_NAME}_SOURCES}
src/path-optimization/small-steps.cc
# 1. 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.
cmake_minimum_required(VERSION 3.10)
set(PROJECT_NAME hpp-manipulation)
set(PROJECT_DESCRIPTION "Classes for manipulation planning.")
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR TRUE)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
else()
find_package(jrl-cmakemodules QUIET CONFIG)
if(jrl-cmakemodules_FOUND)
get_property(
JRL_CMAKE_MODULES
TARGET jrl-cmakemodules::jrl-cmakemodules
PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nCan't find jrl-cmakemodules. Please either:\n"
" - use git submodule: 'git submodule update --init'\n"
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
)
ENDIF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
endif()
include("${JRL_CMAKE_MODULES}/hpp.cmake")
include("${JRL_CMAKE_MODULES}/boost.cmake")
include("${JRL_CMAKE_MODULES}/test.cmake")
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
list(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-core::hpp-core ${Boost_REGEX_LIBRARY})
IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-wholebody-step::hpp-wholebody-step)
ENDIF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
# Ask Doxygen to create a tree view in html documentation
set(DOXYGEN_TREEVIEW
"NO"
CACHE STRING "Set to YES to generate a tree view in the html documentation")
add_project_dependency(Boost REQUIRED COMPONENTS regex)
add_project_dependency("hpp-core" REQUIRED)
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
add_project_dependency("example-robot-data" REQUIRED)
endif()
config_files(doc/main.hh include/hpp/manipulation/package-config.hh)
set(${PROJECT_NAME}_HEADERS
${CMAKE_BINARY_DIR}/include/hpp/manipulation/package-config.hh
include/hpp/manipulation/fwd.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/problem.hh
include/hpp/manipulation/problem-solver.hh
include/hpp/manipulation/device.hh
include/hpp/manipulation/weighed-distance.hh
include/hpp/manipulation/constraint-set.hh
include/hpp/manipulation/roadmap.hh
include/hpp/manipulation/roadmap-node.hh
include/hpp/manipulation/connected-component.hh
include/hpp/manipulation/leaf-connected-comp.hh
include/hpp/manipulation/manipulation-planner.hh
include/hpp/manipulation/graph-path-validation.hh
include/hpp/manipulation/graph-optimizer.hh
include/hpp/manipulation/graph/state.hh
include/hpp/manipulation/graph/edge.hh
include/hpp/manipulation/graph/state-selector.hh
include/hpp/manipulation/graph/guided-state-selector.hh
include/hpp/manipulation/graph/graph.hh
include/hpp/manipulation/graph/statistics.hh
include/hpp/manipulation/graph/graph-component.hh
include/hpp/manipulation/graph/fwd.hh
include/hpp/manipulation/graph/dot.hh
include/hpp/manipulation/graph/helper.hh
include/hpp/manipulation/graph/validation.hh
include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
include/hpp/manipulation/path-optimization/random-shortcut.hh
include/hpp/manipulation/path-optimization/spline-gradient-based.hh
include/hpp/manipulation/path-planner/end-effector-trajectory.hh
include/hpp/manipulation/path-planner/states-path-finder.hh
include/hpp/manipulation/path-planner/transition-planner.hh
include/hpp/manipulation/problem-target/state.hh
include/hpp/manipulation/serialization.hh
include/hpp/manipulation/steering-method/cross-state-optimization.hh
include/hpp/manipulation/steering-method/fwd.hh
include/hpp/manipulation/steering-method/graph.hh
include/hpp/manipulation/steering-method/end-effector-trajectory.hh)
set(${PROJECT_NAME}_SOURCES
src/handle.cc
src/manipulation-planner.cc
src/problem-solver.cc
src/roadmap.cc
src/connected-component.cc
src/leaf-connected-comp.cc
src/constraint-set.cc
src/roadmap-node.cc
src/device.cc
src/weighed-distance.cc
src/problem.cc
src/graph-path-validation.cc
src/graph-optimizer.cc
src/graph/state.cc
src/graph/edge.cc
src/graph/graph.cc
src/graph/graph-component.cc
src/graph/state-selector.cc
src/graph/guided-state-selector.cc
src/graph/statistics.cc
src/graph/helper.cc
src/graph/dot.cc
src/graph/validation.cc
src/path-optimization/random-shortcut.cc
src/path-optimization/enforce-transition-semantic.cc
src/path-planner/end-effector-trajectory.cc
src/path-planner/states-path-finder.cc
src/path-planner/transition-planner.cc
src/problem-target/state.cc
src/serialization.cc
src/steering-method/end-effector-trajectory.cc
src/steering-method/cross-state-optimization.cc
src/steering-method/graph.cc)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(
${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
target_link_libraries(${PROJECT_NAME} hpp-core::hpp-core Boost::regex)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
# GPL licenced part
SET(${PROJECT_NAME}_SOURCES_GPL
src/path-optimization/spline-gradient-based.cc
)
set(${PROJECT_NAME}_SOURCES_GPL src/path-optimization/spline-gradient-based.cc)
add_library(${PROJECT_NAME}-gpl SHARED ${${PROJECT_NAME}_SOURCES_GPL})
target_link_libraries(${PROJECT_NAME}-gpl ${PROJECT_NAME}
hpp-core::hpp-core-gpl)
ADD_LIBRARY(${PROJECT_NAME}-gpl SHARED ${${PROJECT_NAME}_SOURCES_GPL})
TARGET_LINK_LIBRARIES(${PROJECT_NAME}-gpl ${PROJECT_NAME} hpp-core::hpp-core-gpl)
install(
TARGETS ${PROJECT_NAME}-gpl
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
INSTALL(TARGETS ${PROJECT_NAME}-gpl EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
add_subdirectory(plugins)
if(BUILD_TESTING)
add_subdirectory(tests)
endif()
ADD_SUBDIRECTORY(plugins)
IF(BUILD_TESTING)
ADD_SUBDIRECTORY(tests)
ENDIF()
pkg_config_append_libs(${PROJECT_NAME})
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
LICENSE 0 → 100644
View file @ 539aab52
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.
NEWS
View file @ 539aab52
-*- outline -*-
New in
* Dependency to hpp-wholebody-step has been removed.
New in 4.10.0
* In graph::steeringMethod, if q1 == q2, the steering method calls the problem
inner steering method. This avoids a failure if no loop transition has been
set on the state containing q1.
......@@ -9,7 +10,9 @@ New in
- rename some methods for homogeneity with python bindings
- applyConstraints -> generateTargetConfig
- configConstraint -> targetConstraint,
- from -> stateFrom, to -> stateTo.
- from -> stateFrom, to -> stateTo,
* In class WaypointEdge,
- specialize initialization.
* In class LevelSetEdge,
- write documentation,
- rename method applyConstraintsWithOffset into generateTargetConfigOnLeaf,
......@@ -19,11 +22,14 @@ New in
* Add end-effector-tracjectory plugin.
* In class ManipulationPlanner,
- call the problem PathValidation instead of the edge one.
* In class ProblemSolver
- register contact constraints and complement in constraint graph.
New in 4.8.0
* Rewrite steering method CrossStateOptimization.
* In graph component classes (State, Edge, Graph) locked joints are handled as other numerical constraints.
- decouple waypoint computations.
New in 4.6.0
* Add setter to relative motion matrix in edges.
* Add method Edge::neighborEdges.
......
README.md
View file @ 539aab52
# hpp-manipulation
[![Building Status](https://travis-ci.org/humanoid-path-planner/hpp-manipulation.svg?branch=master)](https://travis-ci.org/humanoid-path-planner/hpp-manipulation)
[![Pipeline status](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-manipulation/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-manipulation/commits/master)
[![Coverage report](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-manipulation/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/humanoid-path-planner/hpp-manipulation/master/coverage/)
[![Pipeline status](https://gitlab.laas.fr/humanoid-path-planner/hpp-manipulation/badges/master/pipeline.svg)](https://gitlab.laas.fr/humanoid-path-planner/hpp-manipulation/commits/master)
[![Coverage report](https://gitlab.laas.fr/humanoid-path-planner/hpp-manipulation/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/humanoid-path-planner/hpp-manipulation/master/coverage/)
[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/humanoid-path-planner/hpp-manipulation/master.svg)](https://results.pre-commit.ci/latest/github/humanoid-path-planner/hpp-manipulation)
This package is part of the [HPP] software and extends the functionalities of hpp-core.
It implements a solver for manipulation planning problems.
### Version
1.1
### Dependencies
[hpp-manipulation] needs the following package to be installed:
......
TODO.txt 0 → 100644
View file @ 539aab52
- InStatePath::solve
BiRRT* does not work properly at all:
- discontinuities due to an algorithmic mistake involving qProj_
- not using path projectors, while it should
DiffusingPlanner does not work properly sometimes
- Some collisions were detected on paths solves for romeo-placard
both with discrete and continuous (Progressive, 0.2) path validations
- InStatePath::mergeLeafRoadmapWith
this is inefficient because the roadmap recomputes the connected
component at every step. A better merge function should be added to roadmap.cc
- path optimizations after solving once :
They are done "locally" (for each of the leafs separately) in C++ with a
hard-coded optimizer (Graph-RandomShortcut) and then globally with the
command ps.addPathOptimizer("Graph-RandomShortcut"). Due to how this works,
this is like doing two times the same thing so the first should be removed.
However bugs have been observed when the global optimization is used (Core
dumped). For unknown reasons, in GraphOptimizer::optimize, the dynamic
cast of current->constraints() may fail on *some* 0-length paths. Ignoring
empty paths (the "if" I have added) seems to make the problem disappear
but the reason why some 0-length paths don't have the right Constraint type
is still to be found.
cmake @ 29c0eb4e
Subproject commit cceb64521982eb5940e921d321fd9d02e8a60a03
Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659
doc/Doxyfile.extra.in
View file @ 539aab52
......@@ -8,3 +8,4 @@ ALIASES += Link{1}="\ref \1"
ALIASES += Link{2}="\ref \1 \"\2\""
ALIASES += LHPP{2}="\Link{hpp::\1::\2,\2}"
ALIASES += LPinocchio{1}="\LHPP{pinocchio,\1}"
USE_MATHJAX= YES
flake.lock 0 → 100644
View file @ 539aab52
{
"nodes": {
"flake-parts": {
"inputs": {
"nixpkgs-lib": [
"nixpkgs"
]
},
"locked": {
"lastModified": 1719877454,
"narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
"owner": "hercules-ci",
"repo": "flake-parts",
"rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
"type": "github"
},
"original": {
"owner": "hercules-ci",
"repo": "flake-parts",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1727174734,
"narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
"owner": "gepetto",
"repo": "nixpkgs",
"rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
"type": "github"
},
"original": {
"owner": "gepetto",
"repo": "nixpkgs",
"type": "github"
}
},
"root": {
"inputs": {
"flake-parts": "flake-parts",
"nixpkgs": "nixpkgs"
}
}
},
"root": "root",
"version": 7
}
flake.nix 0 → 100644
View file @ 539aab52
{
description = "Classes for manipulation planning";
inputs = {
nixpkgs.url = "github:gepetto/nixpkgs";
flake-parts = {
url = "github:hercules-ci/flake-parts";
inputs.nixpkgs-lib.follows = "nixpkgs";
};
};
outputs =
inputs:
inputs.flake-parts.lib.mkFlake { inherit inputs; } {
systems = [
"x86_64-linux"
"aarch64-linux"
"aarch64-darwin"
"x86_64-darwin"
];
perSystem =
{ pkgs, self', ... }:
{
devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
packages = {
default = self'.packages.hpp-manipulation;
hpp-manipulation = pkgs.hpp-manipulation.overrideAttrs (_: {
src = pkgs.lib.fileset.toSource {
root = ./.;
fileset = pkgs.lib.fileset.unions [
./CMakeLists.txt
./doc
./include
./package.xml
./plugins
./src
./tests
];
};
});
};
};
};
}
include/hpp/manipulation/connected-component.hh
View file @ 539aab52
......@@ -2,19 +2,30 @@
// Copyright (c) 2015 CNRS
// Authors: Anna Seppala (seppala@laas.fr)
//
// This file is part of hpp-core
// hpp-core 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.
// 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.
//
// hpp-core 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-core If not, see
// <http://www.gnu.org/licenses/>.
// 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.
#ifndef HPP_MANIPULATION_CONNECTED_COMPONENT_HH
#define HPP_MANIPULATION_CONNECTED_COMPONENT_HH
......@@ -25,39 +36,45 @@
#include <hpp/manipulation/graph/fwd.hh>
namespace hpp {
namespace manipulation {
/// Extension of hpp::core::connected-component. Adds a list of roadmap nodes for
/// every contraint graph state within the connected component. Thus every roadmap
/// node is assigned to a grahp state, which minimises computation time.
class HPP_MANIPULATION_DLLAPI ConnectedComponent : public core::ConnectedComponent
{
public:
/// Map of graph states within the connected component
typedef std::map <graph::StatePtr_t, RoadmapNodes_t> GraphStates_t;
ConnectedComponent() {}
/// return a shared pointer to new instance of manipulation::ConnectedComponent
static ConnectedComponentPtr_t create (const RoadmapWkPtr_t& roadmap);
/// Merge two connected components (extension of core::ConnectedComponent::merge)
/// \param other manipulation connected component to merge into this one.
/// \note other will be empty after calling this method.
void merge (const core::ConnectedComponentPtr_t& otherCC);
/// Add roadmap node to connected component
/// \param roadmap node to be added
void addNode (const core::NodePtr_t& node);
const RoadmapNodes_t& getRoadmapNodes (const graph::StatePtr_t graphState) const;
protected:
private:
bool check () const;
GraphStates_t graphStateMap_;
RoadmapPtr_t roadmap_;
static RoadmapNodes_t empty_;
}; // class ConnectedComponent
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_CONNECTED_COMPONENT_HH
namespace manipulation {
/// Extension of hpp::core::connected-component. Adds a list of roadmap nodes
/// for every contraint graph state within the connected component. Thus every
/// roadmap node is assigned to a grahp state, which minimises computation time.
class HPP_MANIPULATION_DLLAPI ConnectedComponent
: public core::ConnectedComponent {
public:
/// Map of graph states within the connected component
typedef std::map<graph::StatePtr_t, RoadmapNodes_t> GraphStates_t;
ConnectedComponent() {}
/// return a shared pointer to new instance of
/// manipulation::ConnectedComponent
static ConnectedComponentPtr_t create(const RoadmapWkPtr_t& roadmap);
/// Merge two connected components (extension of
/// core::ConnectedComponent::merge) \param other manipulation connected
/// component to merge into this one. \note other will be empty after calling
/// this method.
void merge(const core::ConnectedComponentPtr_t& otherCC);
/// Add roadmap node to connected component
/// \param roadmap node to be added
void addNode(const core::NodePtr_t& node);
const RoadmapNodes_t& getRoadmapNodes(
const graph::StatePtr_t graphState) const;
protected:
private:
bool check() const;
GraphStates_t graphStateMap_;
// a RoadmapWkPtr_t so that memory can be released ?
RoadmapWkPtr_t roadmap_;
static RoadmapNodes_t empty_;
HPP_SERIALIZABLE();
}; // class ConnectedComponent
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_CONNECTED_COMPONENT_HH
include/hpp/manipulation/constraint-set.hh
View file @ 539aab52
// Copyright (c) 2015 CNRS
// Authors: Joseph Mirabel
//
// 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.
// 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.
//
// 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/>.
// 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.
#ifndef HPP_MANIPULATION_CONSTRAINT_SET_HH
# define HPP_MANIPULATION_CONSTRAINT_SET_HH
#define HPP_MANIPULATION_CONSTRAINT_SET_HH
# include <hpp/core/constraint-set.hh>
# include <hpp/manipulation/fwd.hh>
# include <hpp/manipulation/graph/fwd.hh>
# include <hpp/manipulation/config.hh>
#include <hpp/core/constraint-set.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
namespace hpp {
namespace manipulation {
/// \addtogroup constraints
/// \{
/// a core::ConstraintSet remembering which edge created it
class HPP_MANIPULATION_DLLAPI ConstraintSet : public core::ConstraintSet
{
public:
typedef core::ConstraintSet Parent_t;
/// Return shared pointer to new object
static ConstraintSetPtr_t create (const DevicePtr_t& robot,
const std::string& name);
/// Return shared pointer to new object
static ConstraintSetPtr_t createCopy (const ConstraintSetPtr_t& cs);
/// return shared pointer to copy
virtual ConstraintPtr_t copy () const;
void edge (graph::EdgePtr_t edge);
graph::EdgePtr_t edge () const;
protected:
/// Constructor
ConstraintSet (const DevicePtr_t& robot, const std::string& name);
/// Copy constructor
ConstraintSet (const ConstraintSet& other);
/// Store weak pointer to itself.
void init (const ConstraintSetPtr_t& self);
virtual std::ostream& print (std::ostream& os) const;
private:
graph::EdgePtr_t edge_;
ConstraintSetWkPtr_t weak_;
}; // class ConstraintSet
struct ConstraintAndComplement_t {
ImplicitPtr_t constraint;
ImplicitPtr_t complement;
ImplicitPtr_t both;
ConstraintAndComplement_t (const ImplicitPtr_t& constr,
const ImplicitPtr_t& comp,
const ImplicitPtr_t& b) :
constraint (constr), complement (comp), both (b)
{
}
};
typedef std::vector <ConstraintAndComplement_t>
ConstraintsAndComplements_t;
/// \}
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_CONSTRAINT_SET_HH
namespace manipulation {
/// \addtogroup constraints
/// \{
/// a core::ConstraintSet remembering which edge created it
class HPP_MANIPULATION_DLLAPI ConstraintSet : public core::ConstraintSet {
public:
typedef core::ConstraintSet Parent_t;
/// Return shared pointer to new object
static ConstraintSetPtr_t create(const DevicePtr_t& robot,
const std::string& name);
/// Return shared pointer to new object
static ConstraintSetPtr_t createCopy(const ConstraintSetPtr_t& cs);
/// return shared pointer to copy
virtual ConstraintPtr_t copy() const;
void edge(graph::EdgePtr_t edge);
graph::EdgePtr_t edge() const;
protected:
/// Constructor
ConstraintSet(const DevicePtr_t& robot, const std::string& name);
/// Copy constructor
ConstraintSet(const ConstraintSet& other);
/// Store weak pointer to itself.
void init(const ConstraintSetPtr_t& self);
virtual std::ostream& print(std::ostream& os) const;
private:
graph::EdgePtr_t edge_;
ConstraintSetWkPtr_t weak_;
ConstraintSet() {}
HPP_SERIALIZABLE();
}; // class ConstraintSet
struct ConstraintAndComplement_t {
ImplicitPtr_t constraint;
ImplicitPtr_t complement;
ImplicitPtr_t both;
ConstraintAndComplement_t(const ImplicitPtr_t& constr,
const ImplicitPtr_t& comp, const ImplicitPtr_t& b)
: constraint(constr), complement(comp), both(b) {}
};
typedef std::vector<ConstraintAndComplement_t> ConstraintsAndComplements_t;
/// \}
} // namespace manipulation
} // namespace hpp
BOOST_CLASS_EXPORT_KEY(hpp::manipulation::ConstraintSet)
#endif // HPP_MANIPULATION_CONSTRAINT_SET_HH
include/hpp/manipulation/device.hh
View file @ 539aab52
......@@ -3,93 +3,110 @@
/// Authors: Florent Lamiraux, Joseph Mirabel
///
///
// 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.
// 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.
//
// 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/>.
// 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.
#ifndef HPP_MANIPULATION_DEVICE_HH
# define HPP_MANIPULATION_DEVICE_HH
#define HPP_MANIPULATION_DEVICE_HH
# include <hpp/pinocchio/humanoid-robot.hh>
#include <hpp/core/container.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/pinocchio/humanoid-robot.hh>
# include <hpp/core/container.hh>
namespace hpp {
namespace manipulation {
/// Device with handles.
///
/// As a deriving class of hpp::pinocchio::HumanoidRobot,
/// it is compatible with hpp::pinocchio::urdf::loadHumanoidRobot
///
/// This class also contains pinocchio::Gripper, Handle and \ref
/// JointAndShapes_t
class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
public:
typedef pinocchio::HumanoidRobot Parent_t;
# include <hpp/manipulation/fwd.hh>
# include <hpp/manipulation/config.hh>
/// Constructor
/// \param name of the new instance,
static DevicePtr_t create(const std::string& name) {
Device* ptr = new Device(name);
DevicePtr_t shPtr(ptr);
ptr->init(shPtr);
return shPtr;
}
namespace hpp {
namespace manipulation {
/// Device with handles.
///
/// As a deriving class of hpp::pinocchio::HumanoidRobot,
/// it is compatible with hpp::pinocchio::urdf::loadHumanoidRobot
///
/// This class also contains pinocchio::Gripper, Handle and \ref JointAndShapes_t
class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot
{
public:
typedef pinocchio::HumanoidRobot Parent_t;
/// Constructor
/// \param name of the new instance,
static DevicePtr_t create (const std::string& name)
{
Device* ptr = new Device (name);
DevicePtr_t shPtr (ptr);
ptr->init (shPtr);
return shPtr;
}
/// Print object in a stream
virtual std::ostream& print (std::ostream& os) const;
void setRobotRootPosition (const std::string& robotName,
const Transform3f& positionWRTParentJoint);
virtual pinocchio::DevicePtr_t clone () const;
std::vector<std::string> robotNames () const;
FrameIndices_t robotFrames (const std::string& robotName) const;
core::Container <HandlePtr_t> handles;
core::Container <GripperPtr_t> grippers;
core::Container <JointAndShapes_t> jointAndShapes;
protected:
/// Constructor
/// \param name of the new instance,
/// \param robot Robots that manipulate objects,
/// \param objects Set of objects manipulated by the robot.
Device (const std::string& name) :
Parent_t (name)
{}
void init (const DeviceWkPtr_t& self)
{
Parent_t::init (self);
self_ = self;
}
void initCopy (const DeviceWkPtr_t& self, const Device& other)
{
Parent_t::initCopy (self, other);
self_ = self;
}
private:
DeviceWkPtr_t self_;
}; // class Device
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_DEVICE_HH
DevicePtr_t self() const { return self_.lock(); }
/// Print object in a stream
virtual std::ostream& print(std::ostream& os) const;
void setRobotRootPosition(const std::string& robotName,
const Transform3s& positionWRTParentJoint);
virtual pinocchio::DevicePtr_t clone() const;
std::vector<std::string> robotNames() const;
FrameIndices_t robotFrames(const std::string& robotName) const;
void removeJoints(const std::vector<std::string>& jointNames,
Configuration_t referenceConfig);
core::Container<HandlePtr_t> handles;
core::Container<GripperPtr_t> grippers;
core::Container<JointAndShapes_t> jointAndShapes;
protected:
/// Constructor
/// \param name of the new instance,
/// \param robot Robots that manipulate objects,
/// \param objects Set of objects manipulated by the robot.
Device(const std::string& name) : Parent_t(name) {}
void init(const DeviceWkPtr_t& self) {
Parent_t::init(self);
self_ = self;
}
void initCopy(const DeviceWkPtr_t& self, const Device& other) {
Parent_t::initCopy(self, other);
self_ = self;
}
/// For serialization only
Device() {}
private:
DeviceWkPtr_t self_;
HPP_SERIALIZABLE();
}; // class Device
} // namespace manipulation
} // namespace hpp
BOOST_CLASS_EXPORT_KEY(hpp::manipulation::Device)
#endif // HPP_MANIPULATION_DEVICE_HH
include/hpp/manipulation/fwd.hh
View file @ 539aab52
......@@ -3,146 +3,173 @@
// Authors: Florent Lamiraux, Joseph Mirabel
//
//
// 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.
// 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.
//
// 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/>.
// 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.
#ifndef HPP_MANIPULATION_FWD_HH
# define HPP_MANIPULATION_FWD_HH
#define HPP_MANIPULATION_FWD_HH
# include <map>
# include <hpp/core/fwd.hh>
#include <hpp/core/fwd.hh>
#include <map>
namespace hpp {
namespace manipulation {
HPP_PREDEF_CLASS (Device);
typedef boost::shared_ptr <Device> DevicePtr_t;
typedef boost::shared_ptr <const Device> DeviceConstPtr_t;
typedef pinocchio::Joint Joint;
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointIndex JointIndex;
typedef std::vector<JointIndex> JointIndices_t;
typedef pinocchio::FrameIndex FrameIndex;
typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
typedef pinocchio::Configuration_t Configuration_t;
typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
typedef core::ConfigurationPtr_t ConfigurationPtr_t;
typedef pinocchio::GripperPtr_t GripperPtr_t;
typedef pinocchio::LiegroupElement LiegroupElement;
typedef pinocchio::LiegroupSpace LiegroupSpace;
typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
HPP_PREDEF_CLASS (AxialHandle);
typedef boost::shared_ptr <AxialHandle> AxialHandlePtr_t;
HPP_PREDEF_CLASS (Handle);
typedef boost::shared_ptr <Handle> HandlePtr_t;
HPP_PREDEF_CLASS (Object);
typedef boost::shared_ptr <Object> ObjectPtr_t;
typedef boost::shared_ptr <const Object> ObjectConstPtr_t;
HPP_PREDEF_CLASS (ProblemSolver);
typedef ProblemSolver* ProblemSolverPtr_t;
HPP_PREDEF_CLASS (Problem);
typedef boost::shared_ptr <Problem> ProblemPtr_t;
HPP_PREDEF_CLASS (Roadmap);
typedef boost::shared_ptr <Roadmap> RoadmapPtr_t;
HPP_PREDEF_CLASS (RoadmapNode);
typedef RoadmapNode* RoadmapNodePtr_t;
typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
HPP_PREDEF_CLASS (ConnectedComponent);
typedef boost::shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
HPP_PREDEF_CLASS (LeafConnectedComp);
typedef boost::shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
typedef boost::shared_ptr<const LeafConnectedComp>
LeafConnectedCompConstPtr_t;
typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
HPP_PREDEF_CLASS (WeighedLeafConnectedComp);
typedef boost::shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
HPP_PREDEF_CLASS (WeighedDistance);
typedef boost::shared_ptr<WeighedDistance> WeighedDistancePtr_t;
typedef constraints::RelativeOrientation RelativeOrientation;
typedef constraints::RelativePosition RelativePosition;
typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
typedef constraints::RelativePositionPtr_t RelativePositionPtr_t;
typedef constraints::RelativeTransformation RelativeTransformation;
typedef constraints::RelativeTransformationPtr_t
RelativeTransformationPtr_t;
typedef core::value_type value_type;
typedef core::size_type size_type;
typedef core::Transform3f Transform3f;
typedef core::vector_t vector_t;
typedef core::vectorIn_t vectorIn_t;
typedef core::vectorOut_t vectorOut_t;
HPP_PREDEF_CLASS (ManipulationPlanner);
typedef boost::shared_ptr < ManipulationPlanner > ManipulationPlannerPtr_t;
HPP_PREDEF_CLASS (GraphPathValidation);
typedef boost::shared_ptr < GraphPathValidation > GraphPathValidationPtr_t;
HPP_PREDEF_CLASS (SteeringMethod);
typedef boost::shared_ptr < SteeringMethod > SteeringMethodPtr_t;
typedef core::PathOptimizer PathOptimizer;
typedef core::PathOptimizerPtr_t PathOptimizerPtr_t;
HPP_PREDEF_CLASS (GraphOptimizer);
typedef boost::shared_ptr < GraphOptimizer > GraphOptimizerPtr_t;
HPP_PREDEF_CLASS (GraphNodeOptimizer);
typedef boost::shared_ptr < GraphNodeOptimizer > GraphNodeOptimizerPtr_t;
typedef core::PathProjectorPtr_t PathProjectorPtr_t;
namespace manipulation {
HPP_PREDEF_CLASS(Device);
typedef shared_ptr<Device> DevicePtr_t;
typedef shared_ptr<const Device> DeviceConstPtr_t;
typedef pinocchio::Joint Joint;
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointIndex JointIndex;
typedef std::vector<JointIndex> JointIndices_t;
typedef pinocchio::FrameIndex FrameIndex;
typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
typedef pinocchio::Configuration_t Configuration_t;
typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
typedef pinocchio::GripperPtr_t GripperPtr_t;
typedef pinocchio::LiegroupElement LiegroupElement;
typedef pinocchio::LiegroupSpace LiegroupSpace;
typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
HPP_PREDEF_CLASS(AxialHandle);
typedef shared_ptr<AxialHandle> AxialHandlePtr_t;
HPP_PREDEF_CLASS(Handle);
typedef shared_ptr<Handle> HandlePtr_t;
HPP_PREDEF_CLASS(Object);
typedef shared_ptr<Object> ObjectPtr_t;
typedef shared_ptr<const Object> ObjectConstPtr_t;
HPP_PREDEF_CLASS(ProblemSolver);
typedef ProblemSolver* ProblemSolverPtr_t;
HPP_PREDEF_CLASS(Problem);
typedef shared_ptr<Problem> ProblemPtr_t;
typedef shared_ptr<const Problem> ProblemConstPtr_t;
HPP_PREDEF_CLASS(Roadmap);
typedef shared_ptr<Roadmap> RoadmapPtr_t;
HPP_PREDEF_CLASS(RoadmapNode);
typedef RoadmapNode* RoadmapNodePtr_t;
typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
HPP_PREDEF_CLASS(ConnectedComponent);
typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
HPP_PREDEF_CLASS(LeafConnectedComp);
typedef shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
typedef shared_ptr<const LeafConnectedComp> LeafConnectedCompConstPtr_t;
typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
HPP_PREDEF_CLASS(WeighedLeafConnectedComp);
typedef shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
HPP_PREDEF_CLASS(WeighedDistance);
typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
typedef constraints::RelativeOrientation RelativeOrientation;
typedef constraints::RelativePosition RelativePosition;
typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
typedef constraints::RelativePositionPtr_t RelativePositionPtr_t;
typedef constraints::RelativeTransformation RelativeTransformation;
typedef constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3;
typedef constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t;
typedef core::value_type value_type;
typedef core::size_type size_type;
typedef core::Transform3s Transform3s;
typedef core::vector_t vector_t;
typedef core::vectorIn_t vectorIn_t;
typedef core::vectorOut_t vectorOut_t;
HPP_PREDEF_CLASS(ManipulationPlanner);
typedef shared_ptr<ManipulationPlanner> ManipulationPlannerPtr_t;
namespace pathPlanner {
HPP_PREDEF_CLASS(EndEffectorTrajectory);
typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
HPP_PREDEF_CLASS(StatesPathFinder);
typedef shared_ptr<StatesPathFinder> StatesPathFinderPtr_t;
HPP_PREDEF_CLASS(InStatePath);
typedef shared_ptr<InStatePath> InStatePathPtr_t;
HPP_PREDEF_CLASS(StateShooter);
typedef shared_ptr<StateShooter> StateShooterPtr_t;
HPP_PREDEF_CLASS(TransitionPlanner);
typedef shared_ptr<TransitionPlanner> TransitionPlannerPtr_t;
} // namespace pathPlanner
HPP_PREDEF_CLASS(GraphPathValidation);
typedef shared_ptr<GraphPathValidation> GraphPathValidationPtr_t;
HPP_PREDEF_CLASS(SteeringMethod);
typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
namespace steeringMethod {
HPP_PREDEF_CLASS(EndEffectorTrajectory);
typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
} // namespace steeringMethod
typedef core::PathOptimizer PathOptimizer;
typedef core::PathOptimizerPtr_t PathOptimizerPtr_t;
HPP_PREDEF_CLASS(GraphOptimizer);
typedef shared_ptr<GraphOptimizer> GraphOptimizerPtr_t;
HPP_PREDEF_CLASS(GraphNodeOptimizer);
typedef shared_ptr<GraphNodeOptimizer> GraphNodeOptimizerPtr_t;
typedef core::PathProjectorPtr_t PathProjectorPtr_t;
typedef std::vector <pinocchio::DevicePtr_t> Devices_t;
typedef std::vector <ObjectPtr_t> Objects_t;
typedef core::Constraint Constraint;
typedef core::ConstraintPtr_t ConstraintPtr_t;
typedef constraints::Explicit Explicit;
typedef constraints::ExplicitPtr_t ExplicitPtr_t;
typedef constraints::ImplicitPtr_t ImplicitPtr_t;
typedef constraints::LockedJoint LockedJoint;
typedef constraints::LockedJointPtr_t LockedJointPtr_t;
typedef hpp::core::ComparisonTypes_t ComparisonTypes_t;
typedef core::ConfigProjector ConfigProjector;
typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
HPP_PREDEF_CLASS (ConstraintSet);
typedef boost::shared_ptr <ConstraintSet> ConstraintSetPtr_t;
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
typedef core::ConfigurationShooter ConfigurationShooter;
typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
typedef core::ValidationReport ValidationReport;
typedef core::NumericalConstraints_t NumericalConstraints_t;
typedef core::PathValidationPtr_t PathValidationPtr_t;
typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
typedef core::matrix_t matrix_t;
typedef core::matrixIn_t matrixIn_t;
typedef core::matrixOut_t matrixOut_t;
typedef core::size_type size_type;
typedef core::value_type value_type;
typedef core::vector3_t vector3_t;
typedef core::matrix3_t matrix3_t;
typedef std::vector<pinocchio::DevicePtr_t> Devices_t;
typedef std::vector<ObjectPtr_t> Objects_t;
typedef core::Constraint Constraint;
typedef core::ConstraintPtr_t ConstraintPtr_t;
typedef constraints::Explicit Explicit;
typedef constraints::ExplicitPtr_t ExplicitPtr_t;
typedef constraints::ImplicitPtr_t ImplicitPtr_t;
typedef constraints::LockedJoint LockedJoint;
typedef constraints::LockedJointPtr_t LockedJointPtr_t;
typedef hpp::core::ComparisonTypes_t ComparisonTypes_t;
typedef core::ConfigProjector ConfigProjector;
typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
HPP_PREDEF_CLASS(ConstraintSet);
typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
typedef core::ConfigurationShooter ConfigurationShooter;
typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
typedef core::ValidationReport ValidationReport;
typedef core::NumericalConstraints_t NumericalConstraints_t;
typedef core::PathValidationPtr_t PathValidationPtr_t;
typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
typedef core::matrix_t matrix_t;
typedef core::matrixIn_t matrixIn_t;
typedef core::matrixOut_t matrixOut_t;
typedef core::size_type size_type;
typedef core::value_type value_type;
typedef core::vector3_t vector3_t;
typedef core::matrix3_t matrix3_t;
typedef core::Shape_t Shape_t;
typedef core::JointAndShape_t JointAndShape_t;
typedef core::JointAndShapes_t JointAndShapes_t;
typedef core::Shape_t Shape_t;
typedef core::JointAndShape_t JointAndShape_t;
typedef core::JointAndShapes_t JointAndShapes_t;
typedef std::list <std::string> StringList_t;
typedef std::list<std::string> StringList_t;
typedef std::vector<std::string> Strings_t;
namespace pathOptimization {
HPP_PREDEF_CLASS (SmallSteps);
typedef boost::shared_ptr < SmallSteps > SmallStepsPtr_t;
HPP_PREDEF_CLASS (Keypoints);
typedef boost::shared_ptr < Keypoints > KeypointsPtr_t;
} // namespace pathOptimization
namespace pathOptimization {
HPP_PREDEF_CLASS(SmallSteps);
typedef shared_ptr<SmallSteps> SmallStepsPtr_t;
HPP_PREDEF_CLASS(Keypoints);
typedef shared_ptr<Keypoints> KeypointsPtr_t;
} // namespace pathOptimization
namespace problemTarget {
HPP_PREDEF_CLASS (State);
typedef boost::shared_ptr < State > StatePtr_t;
} // namespace problemTarget
} // namespace manipulation
} // namespace hpp
namespace problemTarget {
HPP_PREDEF_CLASS(State);
typedef shared_ptr<State> StatePtr_t;
} // namespace problemTarget
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_FWD_HH
#endif // HPP_MANIPULATION_FWD_HH
include/hpp/manipulation/graph-node-optimizer.hh
View file @ 539aab52
// Copyright (c) 2015, LAAS-CNRS
// 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.
// 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.
//
// 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/>.
// 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.
#ifndef HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
# define HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
# include <hpp/core/path.hh>
# include <hpp/core/path-vector.hh>
# include <hpp/core/path-optimizer.hh>
# include <hpp/core/problem.hh>
# include <hpp/core/problem-solver.hh>
#define HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
# include <hpp/manipulation/fwd.hh>
# include <hpp/manipulation/graph/fwd.hh>
# include <hpp/manipulation/config.hh>
# include <hpp/manipulation/constraint-set.hh>
#include <hpp/core/path-optimizer.hh>
#include <hpp/core/path-vector.hh>
#include <hpp/core/path.hh>
#include <hpp/core/problem-solver.hh>
#include <hpp/core/problem.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/constraint-set.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
namespace hpp {
namespace manipulation {
using hpp::core::Path;
using hpp::core::PathPtr_t;
using hpp::core::PathVector;
using hpp::core::PathVectorPtr_t;
namespace manipulation {
using hpp::core::Path;
using hpp::core::PathPtr_t;
using hpp::core::PathVector;
using hpp::core::PathVectorPtr_t;
/// \addtogroup path_optimization
/// \{
/// \addtogroup path_optimization
/// \{
/// Path optimizer that recompute the edge parameter of the constraints
///
/// This class encapsulates another path optimizer class. This optimizer
/// calls the inner optimizer on every subpaths with the same set of
/// constraints.
class HPP_MANIPULATION_DLLAPI GraphNodeOptimizer : public PathOptimizer
{
public:
static GraphNodeOptimizerPtr_t create (const core::Problem& problem);
/// Path optimizer that recompute the edge parameter of the constraints
///
/// This class encapsulates another path optimizer class. This optimizer
/// calls the inner optimizer on every subpaths with the same set of
/// constraints.
class HPP_MANIPULATION_DLLAPI GraphNodeOptimizer : public PathOptimizer {
public:
static GraphNodeOptimizerPtr_t create(const core::ProblemConstPtr_t& problem);
virtual PathVectorPtr_t optimize (const PathVectorPtr_t& path);
virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
protected:
/// Constructor
GraphNodeOptimizer (const core::Problem& problem) :
PathOptimizer (problem)
{}
protected:
/// Constructor
GraphNodeOptimizer(const core::ProblemConstPtr_t& problem)
: PathOptimizer(problem) {}
private:
};
/// \}
} // namespace manipulation
} // namespace hpp
private:
};
/// \}
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
#endif // HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH