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  • gsaurel/hpp-manipulation
  • humanoid-path-planner/hpp-manipulation
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.git-blame-ignore-revs
View file @ 539aab52
......@@ -3,3 +3,5 @@ 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
.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
View file @ 539aab52
ci:
autoupdate_branch: 'devel'
autoupdate_branch: devel
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v14.0.4-1
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.3.0
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
- repo: https://github.com/psf/black
rev: 22.3.0
hooks:
- id: black
- repo: https://github.com/PyCQA/flake8
rev: 4.0.1
hooks:
- id: flake8
- 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:
# 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.
# 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.
# 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 3.1)
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} ${PROJECT_ARGS})
LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cmake_minimum_required(VERSION 3.10)
set(PROJECT_NAME hpp-manipulation)
set(PROJECT_DESCRIPTION "Classes for manipulation planning.")
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR TRUE)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${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"
)
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} ${PROJECT_ARGS})
list(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
# Ask Doxygen to create a tree view in html documentation
SET(DOXYGEN_TREEVIEW "NO" CACHE STRING "Set to YES to generate a tree view in the html documentation")
ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS regex)
ADD_PROJECT_DEPENDENCY("hpp-core" REQUIRED)
IF(BUILD_TESTING)
FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
ADD_PROJECT_DEPENDENCY("example-robot-data" REQUIRED)
ENDIF()
CONFIG_FILES(doc/main.hh
include/hpp/manipulation/package-config.hh)
SET(${PROJECT_NAME}_HEADERS
${CMAKE_BINARY_DIR}/include/hpp/manipulation/package-config.hh
include/hpp/manipulation/fwd.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/problem.hh
include/hpp/manipulation/problem-solver.hh
include/hpp/manipulation/device.hh
include/hpp/manipulation/weighed-distance.hh
include/hpp/manipulation/constraint-set.hh
include/hpp/manipulation/roadmap.hh
include/hpp/manipulation/roadmap-node.hh
include/hpp/manipulation/connected-component.hh
include/hpp/manipulation/leaf-connected-comp.hh
include/hpp/manipulation/manipulation-planner.hh
include/hpp/manipulation/graph-path-validation.hh
include/hpp/manipulation/graph-optimizer.hh
include/hpp/manipulation/graph/state.hh
include/hpp/manipulation/graph/edge.hh
include/hpp/manipulation/graph/state-selector.hh
include/hpp/manipulation/graph/guided-state-selector.hh
include/hpp/manipulation/graph/graph.hh
include/hpp/manipulation/graph/statistics.hh
include/hpp/manipulation/graph/graph-component.hh
include/hpp/manipulation/graph/fwd.hh
include/hpp/manipulation/graph/dot.hh
include/hpp/manipulation/graph/helper.hh
include/hpp/manipulation/graph/validation.hh
include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
include/hpp/manipulation/path-optimization/random-shortcut.hh
include/hpp/manipulation/path-optimization/spline-gradient-based.hh
include/hpp/manipulation/path-planner/end-effector-trajectory.hh
include/hpp/manipulation/problem-target/state.hh
include/hpp/manipulation/serialization.hh
include/hpp/manipulation/steering-method/cross-state-optimization.hh
include/hpp/manipulation/steering-method/fwd.hh
include/hpp/manipulation/steering-method/graph.hh
include/hpp/manipulation/steering-method/end-effector-trajectory.hh
)
SET(${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/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 $<INSTALL_INTERFACE:include>)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-core::hpp-core Boost::regex)
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
set(DOXYGEN_TREEVIEW
"NO"
CACHE STRING "Set to YES to generate a tree view in the html documentation")
add_project_dependency(Boost REQUIRED COMPONENTS regex)
add_project_dependency("hpp-core" REQUIRED)
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
add_project_dependency("example-robot-data" REQUIRED)
endif()
config_files(doc/main.hh include/hpp/manipulation/package-config.hh)
set(${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})
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
COPYING → LICENSE
View file @ 539aab52
File moved
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
Compare e77c9c32...29c0eb4e
Subproject commit e77c9c32b1d69b21e447cf64f1ad1590aab61159
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/device.hh
View file @ 539aab52
......@@ -64,7 +64,7 @@ class HPP_MANIPULATION_DLLAPI Device : public pinocchio::HumanoidRobot {
virtual std::ostream& print(std::ostream& os) const;
void setRobotRootPosition(const std::string& robotName,
const Transform3f& positionWRTParentJoint);
const Transform3s& positionWRTParentJoint);
virtual pinocchio::DevicePtr_t clone() const;
......
include/hpp/manipulation/fwd.hh
View file @ 539aab52
......@@ -48,7 +48,6 @@ 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;
......@@ -89,16 +88,32 @@ typedef constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3;
typedef constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t;
typedef core::value_type value_type;
typedef core::size_type size_type;
typedef core::Transform3f Transform3f;
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);
......
include/hpp/manipulation/graph/dot.hh
View file @ 539aab52
......@@ -54,7 +54,7 @@ struct DrawingAttributes {
}
std::string& operator[](const std::string& K) { return attr[K]; }
DrawingAttributes()
: separator(", "), openSection("["), closeSection("]"), attr(){};
: separator(", "), openSection("["), closeSection("]"), attr() {};
};
struct Tooltip {
......@@ -62,7 +62,7 @@ struct Tooltip {
typedef std::list<std::string> TooltipLineVector;
TooltipLineVector v;
Tooltip() : v(){};
Tooltip() : v() {};
inline std::string toStr() const {
std::stringstream ss;
size_t i = v.size();
......
include/hpp/manipulation/graph/edge.hh
View file @ 539aab52
......@@ -81,30 +81,6 @@ class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent {
static EdgePtr_t create(const std::string& name, const GraphWkPtr_t& graph,
const StateWkPtr_t& from, const StateWkPtr_t& to);
/// Generate a reachable configuration in the target state
///
/// \param nStart node containing the configuration defining the right
/// hand side of the edge constraint,
/// \param[in,out] q input configuration used to initialize the
/// numerical solver and output configuration lying
/// in the target state and reachable along the edge
/// from nnear
/// \deprecated Use generateTargetConfig instead.
virtual bool applyConstraints(core::NodePtr_t nStart, ConfigurationOut_t q)
const HPP_MANIPULATION_DEPRECATED;
/// Generate a reachable configuration in the target state
///
/// \param qStart node containing the configuration defining the right
/// hand side of the edge path constraint,
/// \param[in,out] q input configuration used to initialize the
/// numerical solver and output configuration lying
/// in the target state and reachable along the edge
/// from nnear.
/// \deprecated Use generateTargetConfig instead.
virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q)
const HPP_MANIPULATION_DEPRECATED;
/// Generate a reachable configuration in the target state
///
/// \param nStart node containing the configuration defining the right
......@@ -188,10 +164,6 @@ class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent {
std::ostream& os,
dot::DrawingAttributes da = dot::DrawingAttributes()) const;
/// Constraint of the destination state and of the path
/// \deprecated Use targetConstraint instead
ConstraintSetPtr_t configConstraint() const HPP_MANIPULATION_DEPRECATED;
/// Constraint of the destination state and of the path
ConstraintSetPtr_t targetConstraint() const;
......@@ -210,9 +182,6 @@ class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent {
/// Constructor
Edge(const std::string& name);
virtual ConstraintSetPtr_t buildConfigConstraint()
HPP_MANIPULATION_DEPRECATED;
/// Build path and target state constraint set.
virtual ConstraintSetPtr_t buildTargetConstraint();
......@@ -303,18 +272,6 @@ class HPP_MANIPULATION_DLLAPI WaypointEdge : public Edge {
virtual bool build(core::PathPtr_t& path, ConfigurationIn_t q1,
ConfigurationIn_t q2) const;
/// Generate a reachable configuration in the target state
///
/// \param qStart node containing the configuration defining the right
/// hand side of the edge path constraint,
/// \param[in,out] q input configuration used to initialize the
/// numerical solver and output configuration lying
/// in the target state and reachable along the edge
/// from nnear.
/// deprecated Used generateTargetConfig instead.
virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q)
const HPP_MANIPULATION_DEPRECATED;
/// Generate a reachable configuration in the target state
///
/// \param qStart node containing the configuration defining the right
......@@ -448,30 +405,6 @@ class HPP_MANIPULATION_DLLAPI LevelSetEdge : public Edge {
const StateWkPtr_t& from,
const StateWkPtr_t& to);
/// Generate a reachable configuration in the target state
///
/// \param nStart node containing the configuration defining the right
/// hand side of the edge constraint,
/// \param[in,out] q input configuration used to initialize the
/// numerical solver and output configuration lying
/// in the target state and reachable along the edge
/// from nnear
/// \deprecated Use generateTargetConfig instead.
virtual bool applyConstraints(core::NodePtr_t nStart, ConfigurationOut_t q)
const HPP_MANIPULATION_DEPRECATED;
/// Generate a reachable configuration in the target state
///
/// \param qStart node containing the configuration defining the right
/// hand side of the edge path constraint,
/// \param[in,out] q input configuration used to initialize the
/// numerical solver and output configuration lying
/// in the target state and reachable along the edge
/// from nnear.
/// \deprecated Use generateTargetConfig instead.
virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q)
const HPP_MANIPULATION_DEPRECATED;
/// Generate a reachable configuration in the target state
///
/// \param nStart node containing the configuration defining the right
......@@ -505,10 +438,6 @@ class HPP_MANIPULATION_DLLAPI LevelSetEdge : public Edge {
ConfigurationIn_t qLeaf,
ConfigurationOut_t q) const;
/// \deprecated Use buildTargetConstraint instead
virtual ConstraintSetPtr_t buildConfigConstraint()
HPP_MANIPULATION_DEPRECATED;
/// Build path and target state constraints
virtual ConstraintSetPtr_t buildTargetConstraint();
......
include/hpp/manipulation/graph/graph-component.hh
View file @ 539aab52
......@@ -50,7 +50,7 @@ namespace graph {
/// Define common methods of the graph components.
class HPP_MANIPULATION_DLLAPI GraphComponent {
public:
virtual ~GraphComponent(){};
virtual ~GraphComponent() {};
/// Get the component name.
const std::string& name() const;
......@@ -92,10 +92,6 @@ class HPP_MANIPULATION_DLLAPI GraphComponent {
/// The component needs to be initialized again.
virtual void invalidate() { isInit_ = false; }
/// Declare a component as dirty
/// \deprecated call invalidate instead
void setDirty() HPP_MANIPULATION_DEPRECATED;
/// Set whether hierachical constraints are solved level by level
/// \sa hpp::constraints::solver::HierarchicalIterative
void solveLevelByLevel(bool solveLevelByLevel) {
......
include/hpp/manipulation/graph/graph.hh
View file @ 539aab52
......@@ -46,8 +46,7 @@ namespace graph {
/// Description of the constraint graph.
///
/// This class contains a graph representing a robot with several
/// end-effectors.
/// This class contains a graph representing a a manipulation problem
///
/// One must make sure not to create loop with shared pointers.
/// To ensure that, the classes are defined as follow:
......@@ -55,6 +54,10 @@ namespace graph {
/// - A StateSelector owns the Node s related to one gripper.
/// - A State owns its outgoing Edge s.
/// - An Edge does not own anything.
///
/// \note The graph and all its components have a unique index starting
/// at 0 for the graph itself. The index of a component can be retrieved
/// using method GraphComponent::id.
class HPP_MANIPULATION_DLLAPI Graph : public GraphComponent {
public:
/// Create a new Graph.
......@@ -137,11 +140,6 @@ class HPP_MANIPULATION_DLLAPI Graph : public GraphComponent {
/// \return The initialized projector.
ConstraintSetPtr_t configConstraint(const StatePtr_t& state) const;
/// Constraints of path and target state of an edge
/// \deprecated Use tagetConstraint instead.
ConstraintSetPtr_t configConstraint(const EdgePtr_t& edge) const
HPP_MANIPULATION_DEPRECATED;
/// Constraints a configuration in target state should satisfy
/// \param edge a transition
/// \return The set of constraints a configuration lying in the
......@@ -260,7 +258,7 @@ class HPP_MANIPULATION_DLLAPI Graph : public GraphComponent {
void init(const GraphWkPtr_t& weak, DevicePtr_t robot);
/// Constructor
/// \param sm a steering method to create paths from edges
/// \param problem a pointer to the problem
Graph(const std::string& name, const ProblemPtr_t& problem);
/// Print the object in a stream.
......
include/hpp/manipulation/graph/state-selector.hh
View file @ 539aab52
......@@ -41,7 +41,7 @@ namespace graph {
/// be ordered because a configuration can be in several states.
class HPP_MANIPULATION_DLLAPI StateSelector {
public:
virtual ~StateSelector(){};
virtual ~StateSelector() {};
/// Create a new StateSelector.
static StateSelectorPtr_t create(const std::string& name);
......
include/hpp/manipulation/graph/statistics.hh
View file @ 539aab52
......@@ -103,7 +103,7 @@ class HPP_MANIPULATION_DLLLOCAL NodeBin : public ::hpp::statistics::Bin {
class HPP_MANIPULATION_DLLLOCAL Histogram {
public:
virtual ~Histogram(){};
virtual ~Histogram() {};
virtual void add(const RoadmapNodePtr_t& node) = 0;
......@@ -203,7 +203,6 @@ class HPP_MANIPULATION_DLLLOCAL StateHistogram
/// The constraint graph
graph::GraphPtr_t graph_;
};
typedef StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED;
typedef shared_ptr<StateHistogram> NodeHistogramPtr_t;
} // namespace graph
} // namespace manipulation
......