rbprmbuilder.impl.hh 24.5 KB
Newer Older
Steve Tonneau's avatar
Steve Tonneau committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
// Copyright (c) 2014 CNRS
// Author: Florent Lamiraux
//
// This file is part of hpp-manipulation-corba.
// hpp-manipulation-corba is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-manipulation-corba 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-corba.  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_RBPRM_CORBA_BUILDER_IMPL_HH
# define HPP_RBPRM_CORBA_BUILDER_IMPL_HH

# include <hpp/core/problem-solver.hh>
22
# include <hpp/core/path.hh>
Steve Tonneau's avatar
Steve Tonneau committed
23
# include "rbprmbuilder.hh"
Steve Tonneau's avatar
Steve Tonneau committed
24
# include <hpp/rbprm/rbprm-device.hh>
Steve Tonneau's avatar
Steve Tonneau committed
25
# include <hpp/rbprm/rbprm-fullbody.hh>
Steve Tonneau's avatar
Steve Tonneau committed
26
27
# include <hpp/rbprm/rbprm-shooter.hh>
# include <hpp/rbprm/rbprm-validation.hh>
28
# include <hpp/rbprm/sampling/analysis.hh>
29
30
31
32
# include <hpp/core/collision-path-validation-report.hh>
# include <hpp/core/problem-solver.hh>
# include <hpp/core/discretized-collision-checking.hh>
# include <hpp/core/straight-path.hh>
stevet's avatar
stevet committed
33
# include <hpp/core/problem.hh>
34
35
#include <hpp/corbaserver/affordance/server.hh>
# include <hpp/corbaserver/problem-solver-map.hh>
36
# include <hpp/rbprm/rbprm-path-validation.hh>
37
38
# include <hpp/fcl/BVH/BVH_model.h>
# include <hpp/core/config-validations.hh>
39
#include <hpp/rbprm/dynamic/dynamic-path-validation.hh>
40
41
# include "hpp/corbaserver/fwd.hh"

Steve Tonneau's avatar
Steve Tonneau committed
42
43
44
45
namespace hpp {
  namespace rbprm {
    namespace impl {
      using CORBA::Short;
stevet's avatar
stevet committed
46
47

    typedef hpp::core::Container <hpp::core::AffordanceObjects_t> affMap_t;
Steve Tonneau's avatar
Steve Tonneau committed
48

Steve Tonneau's avatar
Steve Tonneau committed
49
50
51
    struct BindShooter
    {
        BindShooter(const std::size_t shootLimit = 10000,
52
                    const std::size_t displacementLimit = 100)
Steve Tonneau's avatar
Steve Tonneau committed
53
54
55
            : shootLimit_(shootLimit)
            , displacementLimit_(displacementLimit) {}

stevet's avatar
stevet committed
56
        hpp::rbprm::RbPrmShooterPtr_t create (/*const hpp::pinocchio::DevicePtr_t& robot,*/ const hpp::core::Problem& problem)
Steve Tonneau's avatar
Steve Tonneau committed
57
        {
stevet's avatar
stevet committed
58
            affMap_ = problemSolver_->affordanceObjects;
stevet's avatar
stevet committed
59
60
            hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(problem.robot());
                if (affMap_.map.empty ()) {
61
62
    	        throw hpp::Error ("No affordances found. Unable to create shooter object.");
      		  }
Steve Tonneau's avatar
Steve Tonneau committed
63
            rbprm::RbPrmShooterPtr_t shooter = hpp::rbprm::RbPrmShooter::create
64
                    (robotcast, problemSolver_->problem ()->collisionObstacles(), affMap_,
65
										romFilter_,affFilter_,shootLimit_,displacementLimit_);
Steve Tonneau's avatar
Steve Tonneau committed
66
67
68
            if(!so3Bounds_.empty())
                shooter->BoundSO3(so3Bounds_);
            return shooter;
Steve Tonneau's avatar
Steve Tonneau committed
69
        }
70

stevet's avatar
stevet committed
71
        hpp::core::PathValidationPtr_t createPathValidation (const hpp::pinocchio::DevicePtr_t& robot, const hpp::pinocchio::value_type& val)
72
        {
stevet's avatar
stevet committed
73
74
75
            hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
                        affMap_ = problemSolver_->affordanceObjects;
                if (affMap_.map.empty ()) {
76
77
78
    	        throw hpp::Error ("No affordances found. Unable to create Path Validaton object.");
      		  }
            hpp::rbprm::RbPrmValidationPtr_t validation
79
              (hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_, affMap_));
80
            hpp::rbprm::RbPrmPathValidationPtr_t collisionChecking = hpp::rbprm::RbPrmPathValidation::create(robot,val);
81
            collisionChecking->add (validation);
82
83
            problemSolver_->problem()->configValidation(core::ConfigValidations::create ());
            problemSolver_->problem()->configValidations()->add(validation);
84
            return collisionChecking;
85
86
        }

stevet's avatar
stevet committed
87
        hpp::core::PathValidationPtr_t createDynamicPathValidation (const hpp::pinocchio::DevicePtr_t& robot, const hpp::pinocchio::value_type& val)
88
        {
stevet's avatar
stevet committed
89
90
91
          hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
          affMap_ = problemSolver_->affordanceObjects;
          if (affMap_.map.empty ()) {
92
93
94
95
96
97
98
99
100
101
102
103
            throw hpp::Error ("No affordances found. Unable to create Path Validaton object.");
          }
          hpp::rbprm::RbPrmValidationPtr_t validation
            (hpp::rbprm::RbPrmValidation::create(robotcast, romFilter_, affFilter_, affMap_));
          hpp::rbprm::DynamicPathValidationPtr_t collisionChecking = hpp::rbprm::DynamicPathValidation::create(robot,val);
          collisionChecking->add (validation);
          problemSolver_->problem()->configValidation(core::ConfigValidations::create ());
          problemSolver_->problem()->configValidations()->add(validation);
          // build the dynamicValidation :
          double sizeFootX,sizeFootY,mass,mu;
          bool rectangularContact;
          try {
stevet's avatar
stevet committed
104
105
106
              sizeFootX = problemSolver_->problem()->getParameter ("sizeFootX").floatValue()/2.;
              sizeFootY = problemSolver_->problem()->getParameter ("sizeFootY").floatValue()/2.;
              rectangularContact = 1;
107
108
          } catch (const std::exception& e) {
            hppDout(warning,"Warning : size of foot not definied, use 0 (contact point)");
stevet's avatar
stevet committed
109
110
            sizeFootX = 0;
            sizeFootY = 0;
111
112
113
            rectangularContact = 0;
          }
          mass = robot->mass();
114
          try {
stevet's avatar
stevet committed
115
116
            mu = problemSolver_->problem()->getParameter ("friction").floatValue();
            hppDout(notice,"mu define in python : "<<mu);
117
118
          } catch (const std::exception& e) {
            mu= 0.5;
stevet's avatar
stevet committed
119
            hppDout(notice,"mu not defined, take : "<<mu<<" as default.");
120
          }
121
122
123
124
125
126
          DynamicValidationPtr_t dynamicVal = DynamicValidation::create(rectangularContact,sizeFootX,sizeFootY,mass,mu);
          collisionChecking->addDynamicValidator(dynamicVal);

          return collisionChecking;
        }

Steve Tonneau's avatar
Steve Tonneau committed
127
        hpp::core::ProblemSolverPtr_t problemSolver_;
Steve Tonneau's avatar
Steve Tonneau committed
128
        std::vector<std::string> romFilter_;
129
        std::map<std::string, std::vector<std::string> > affFilter_;
Steve Tonneau's avatar
Steve Tonneau committed
130
131
        std::size_t shootLimit_;
        std::size_t displacementLimit_;
Steve Tonneau's avatar
Steve Tonneau committed
132
        std::vector<double> so3Bounds_;
stevet's avatar
stevet committed
133
        affMap_t affMap_;
Steve Tonneau's avatar
Steve Tonneau committed
134
135
    };

Steve Tonneau's avatar
Steve Tonneau committed
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
    class FullBodyMap {
      public:
        typedef std::map<std::string, rbprm::RbPrmFullBodyPtr_t> fMap_t;

        std::string selected_;
        fMap_t map_;

        FullBodyMap (const std::string& name = "None") :
          selected_ (name)
          {
            //map_[selected_] = init;
          }

        rbprm::RbPrmFullBodyPtr_t operator-> () {
          return selected();
        }
        operator rbprm::RbPrmFullBodyPtr_t () {
          return selected();
        }
        rbprm::RbPrmFullBodyPtr_t selected () {
          return map_[selected_];
        }
        bool has (const std::string& name) const
        {
          // ProblemMap_t::const_iterator it = map_.find (name);
          // return it != map_.end ();
          return map_.end() != map_.find (name);
        }
        template <typename ReturnType> ReturnType keys () const
        {
          ReturnType l;
          for (fMap_t::const_iterator it = map_.begin ();
              it != map_.end (); ++it)
            l.push_back (it->first);
          return l;
        }
    };

Steve Tonneau's avatar
Steve Tonneau committed
174
175
176
      class RbprmBuilder : public virtual POA_hpp::corbaserver::rbprm::RbprmBuilder
      {
        public:
Steve Tonneau's avatar
Steve Tonneau committed
177
        RbprmBuilder ();
Steve Tonneau's avatar
Steve Tonneau committed
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192

        virtual void loadRobotRomModel (const char* robotName,
                 const char* rootJointType,
                 const char* packageName,
                 const char* modelName,
                 const char* urdfSuffix,
                 const char* srdfSuffix) throw (hpp::Error);

        virtual void loadRobotCompleteModel (const char* robotName,
                 const char* rootJointType,
                 const char* packageName,
                 const char* modelName,
                 const char* urdfSuffix,
                 const char* srdfSuffix) throw (hpp::Error);

Steve Tonneau's avatar
Steve Tonneau committed
193
194
195
196
197
198

        virtual void loadFullBodyRobot (const char* robotName,
                 const char* rootJointType,
                 const char* packageName,
                 const char* modelName,
                 const char* urdfSuffix,
Steve Tonneau's avatar
Steve Tonneau committed
199
200
                 const char* srdfSuffix,
                 const char* selectedProblem) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
201

202
203
        virtual void loadFullBodyRobotFromExistingRobot () throw (hpp::Error);

204
        void setStaticStability(const bool staticStability) throw (hpp::Error);
205

206
207
208
        void setReferenceConfig(const hpp::floatSeq &referenceConfig) throw (hpp::Error);


Steve Tonneau's avatar
Steve Tonneau committed
209
        virtual void setFilter(const hpp::Names_t& roms) throw (hpp::Error);
210
				virtual void setAffordanceFilter(const char* romName, const hpp::Names_t& affordances) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
211
212
        virtual void boundSO3(const hpp::floatSeq& limitszyx) throw (hpp::Error);

Steve Tonneau's avatar
Steve Tonneau committed
213

214
215
        virtual hpp::floatSeq* getSampleConfig(const char* limb, unsigned int sampleId) throw (hpp::Error);
        virtual hpp::floatSeq* getSamplePosition(const char* limb, unsigned int sampleId) throw (hpp::Error);
216
        virtual hpp::floatSeqSeq* getEffectorPosition(const char* limb, const hpp::floatSeq& configuration) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
217
        virtual CORBA::UShort getNumSamples(const char* limb) throw (hpp::Error);
218
        virtual hpp::floatSeq* getOctreeNodeIds(const char* limb) throw (hpp::Error);
219
        virtual double getSampleValue(const char* limb, const char* valueName, unsigned int sampleId) throw (hpp::Error);
220
        virtual double getEffectorDistance(unsigned short  state1, unsigned short  state2) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
221

222
223
        rbprm::State generateContacts_internal(const hpp::floatSeq& configuration,
          const hpp::floatSeq& direction,const hpp::floatSeq& acceleration, const double robustnessThreshold ) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
224
        virtual hpp::floatSeq* generateContacts(const hpp::floatSeq& configuration,
225
                                                const hpp::floatSeq& direction, const hpp::floatSeq& acceleration, const double robustnessThreshold) throw (hpp::Error);
226
227
        virtual CORBA::Short generateStateInContact(const hpp::floatSeq& configuration,
                                                const hpp::floatSeq& direction, const hpp::floatSeq& acceleration, const double robustnessThreshold) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
228

229
230
        virtual hpp::floatSeq* generateGroundContact(const hpp::Names_t& contactLimbs) throw (hpp::Error);

231
232
233
234
        virtual hpp::floatSeq* getContactSamplesIds(const char* limb,
                                                   const hpp::floatSeq& configuration,
                                                   const hpp::floatSeq& direction) throw (hpp::Error);

Steve Tonneau's avatar
Steve Tonneau committed
235
        virtual hpp::floatSeqSeq* getContactSamplesProjected(const char* limb,
Steve Tonneau's avatar
Steve Tonneau committed
236
237
238
239
                                                   const hpp::floatSeq& configuration,
                                                   const hpp::floatSeq& direction,
                                                   unsigned short numSamples) throw (hpp::Error);

240
241
242
        virtual hpp::floatSeq* getSamplesIdsInOctreeNode(const char* limb,
                                                   double octreeNodeId) throw (hpp::Error);

243
        virtual void addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y,
244
                             unsigned int samples, const char *heuristicName, double resolution, const char *contactType,
245
                             double disableEffectorCollision, double grasp,const hpp::floatSeq& limbOffset,const char* kinematicConstraintsPath, double kinematicConstraintsMin) throw (hpp::Error);
246
247
        virtual void addNonContactingLimb(const char* id, const char* limb, const char* effector, unsigned int samples) throw (hpp::Error);

248
        virtual void addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName, double loadValues,
t steve's avatar
t steve committed
249
                                     double disableEffectorCollision, double grasp) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
250

Steve Tonneau's avatar
Steve Tonneau committed
251
252
        virtual void setStartState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
        virtual void setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
253
254
        virtual void setStartStateId(unsigned short stateId) throw (hpp::Error);
        virtual void setEndStateId(unsigned short stateId) throw (hpp::Error);
255
        virtual hpp::floatSeq*  computeContactForConfig(const hpp::floatSeq& configuration, const char* limbNam) throw (hpp::Error);
256
        virtual hpp::floatSeqSeq* computeContactPoints(unsigned short cId) throw (hpp::Error);
t steve's avatar
t steve committed
257
        virtual hpp::floatSeqSeq* computeContactPointsAtState(unsigned short cId, unsigned short isIntermediate) throw (hpp::Error);
258
        virtual hpp::floatSeqSeq* computeContactPointsForLimb(unsigned short cId, const char* limbName) throw (hpp::Error);
t steve's avatar
t steve committed
259
        virtual hpp::floatSeqSeq* computeContactPointsAtStateForLimb(unsigned short cId, unsigned short isIntermediate, const char* limbName) throw (hpp::Error);
260
        virtual hpp::floatSeqSeq* computeCenterOfContactAtStateForLimb(unsigned short cId, unsigned short isIntermediate, const char *limbName) throw (hpp::Error);
261
262
        virtual hpp::floatSeqSeq* interpolate(double timestep, double path, double robustnessTreshold, unsigned short filterStates, bool testReachability, bool quasiStatic) throw (hpp::Error);
        virtual hpp::floatSeqSeq* interpolateConfigs(const hpp::floatSeqSeq& configs, double robustnessTreshold, unsigned short filterStates, bool testReachability, bool quasiStatic) throw (hpp::Error);
263
264
        virtual hpp::floatSeqSeq* getContactCone(unsigned short stateId, double friction) throw (hpp::Error);
        virtual hpp::floatSeqSeq* getContactIntermediateCone(unsigned short stateId, double friction) throw (hpp::Error);
265
266
        virtual CORBA::Short generateComTraj(const hpp::floatSeqSeq& positions, const hpp::floatSeqSeq& velocities,
                                             const hpp::floatSeqSeq& accelerations, const double dt) throw (hpp::Error);
t steve's avatar
t steve committed
267
268

        virtual CORBA::Short straightPath(const hpp::floatSeqSeq& positions) throw (hpp::Error);
t steve's avatar
t steve committed
269
        virtual CORBA::Short generateCurveTraj(const hpp::floatSeqSeq& positions) throw (hpp::Error);
t steve's avatar
t steve committed
270
        virtual CORBA::Short generateCurveTrajParts(const hpp::floatSeqSeq& positions, const hpp::floatSeq& partitions) throw (hpp::Error);
271
        virtual CORBA::Short generateRootPath(const hpp::floatSeqSeq& rootPositions,
272
                                      const hpp::floatSeq& q1, const hpp::floatSeq& q2) throw (hpp::Error);
273
274
        virtual CORBA::Short limbRRT(unsigned short state1, unsigned short state2, unsigned short numOptimizations) throw (hpp::Error);
        virtual CORBA::Short limbRRTFromRootPath(unsigned short state1, unsigned short state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
275
        virtual CORBA::Short configToPath(const hpp::floatSeqSeq& configs) throw (hpp::Error);
276
        virtual CORBA::Short comRRT(unsigned short state1, unsigned short state2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error);
277
278

        typedef core::PathPtr_t (*t_rrt)
279
280
            (RbPrmFullBodyPtr_t, core::ProblemSolverPtr_t, const core::PathPtr_t,
             const  State &, const State &, const  std::size_t, const bool);
281

282
        hpp::floatSeq* rrt(t_rrt functor ,unsigned short state1,unsigned short state2,
283
284
285
                           unsigned short comTraj1, unsigned short comTraj2, unsigned short comTraj3,
                           unsigned short numOptimizations) throw (hpp::Error);

286
        virtual hpp::floatSeq* comRRTFromPos(unsigned short state1,
287
288
289
                                           unsigned short comTraj1,
                                           unsigned short comTraj2,
                                           unsigned short comTraj3,
Steve Tonneau's avatar
Steve Tonneau committed
290
                                           unsigned short numOptimizations) throw (hpp::Error);
291
        virtual hpp::floatSeq* comRRTFromPosBetweenState(unsigned short state1,unsigned short state2,
292
293
294
295
                                           unsigned short comTraj1,
                                           unsigned short comTraj2,
                                           unsigned short comTraj3,
                                           unsigned short numOptimizations) throw (hpp::Error);
296
        virtual hpp::floatSeq* effectorRRTFromPosBetweenState(unsigned short state1,unsigned short state2,
Steve Tonneau's avatar
Steve Tonneau committed
297
298
299
300
                                           unsigned short comTraj1,
                                           unsigned short comTraj2,
                                           unsigned short comTraj3,
                                           unsigned short numOptimizations) throw (hpp::Error);
301
        virtual hpp::floatSeq* effectorRRT(unsigned short state1,
302
303
304
                                           unsigned short comTraj1,
                                           unsigned short comTraj2,
                                           unsigned short comTraj3,
305
                                           unsigned short numOptimizations) throw (hpp::Error);
306
        virtual hpp::floatSeq* effectorRRTFromPath(unsigned short state1,
307
308
309
                                           unsigned short path,
                                           double path_from,
                                           double path_to,
310
311
312
                                           unsigned short comTraj1,
                                           unsigned short comTraj2,
                                           unsigned short comTraj3,
313
314
                                           unsigned short numOptimizations,
                                           const hpp::Names_t& trackedEffectors) throw (hpp::Error);
315
        virtual hpp::floatSeq* rrtOnePhase(t_rrt functor,unsigned short state1,unsigned short state2,
316
317
                                           unsigned short comTraj,
                                           unsigned short numOptimizations) throw (hpp::Error);
318
        virtual hpp::floatSeq* effectorRRTOnePhase(unsigned short state1,unsigned short state2,
319
320
                                           unsigned short comTraj,
                                           unsigned short numOptimizations) throw (hpp::Error);
321
        virtual hpp::floatSeq* comRRTOnePhase(unsigned short state1, unsigned short state2,
322
323
                                           unsigned short comTraj,
                                           unsigned short numOptimizations) throw (hpp::Error);
324
        virtual hpp::floatSeqSeq* generateEffectorBezierArray(unsigned short state1,unsigned short state2,
325
326
                                           unsigned short comTraj,
                                           unsigned short numOptimizations) throw (hpp::Error);
327

328
        virtual CORBA::Short generateEndEffectorBezier(unsigned short state1, unsigned short state2,
329
330
        unsigned short cT) throw (hpp::Error);

331
        virtual hpp::floatSeq* projectToCom(unsigned short state, const hpp::floatSeq& targetCom, unsigned short max_num_sample) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
332
        virtual CORBA::Short createState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
333
        virtual hpp::floatSeq* getConfigAtState(unsigned short stateId) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
334
        virtual double setConfigAtState(unsigned short stateId, const hpp::floatSeq& config) throw (hpp::Error);
stevet's avatar
stevet committed
335
336
        double projectStateToCOMEigen(State& s, const pinocchio::Configuration_t& com_target, unsigned short maxNumeSamples)throw (hpp::Error);
        double projectStateToCOMEigen(unsigned short stateId, const pinocchio::Configuration_t& com_target, unsigned short maxNumeSamples)throw (hpp::Error);
337

338
        virtual double projectStateToCOM(unsigned short stateId, const hpp::floatSeq& com, unsigned short max_num_sample) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
339
        virtual void saveComputedStates(const char* filepath) throw (hpp::Error);
Steve Tonneau's avatar
Steve Tonneau committed
340
        virtual void saveLimbDatabase(const char* limbname,const char* filepath) throw (hpp::Error);
341
        virtual hpp::floatSeq* getOctreeBox(const char* limbName, double sampleId) throw (hpp::Error);
342
343
        virtual CORBA::Short  isLimbInContact(const char* limbName, unsigned short state) throw (hpp::Error);
        virtual CORBA::Short  isLimbInContactIntermediary(const char* limbName, unsigned short state) throw (hpp::Error);
344
        virtual CORBA::Short  computeIntermediary(unsigned short state1, unsigned short state2) throw (hpp::Error);
345
        virtual hpp::floatSeqSeq* getOctreeBoxes(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error);
346
        virtual hpp::floatSeq* getOctreeTransform(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error);
347
        virtual CORBA::Short isConfigBalanced(const hpp::floatSeq& config, const hpp::Names_t& contactLimbs, double robustnessTreshold,const hpp::floatSeq& CoM) throw (hpp::Error);
348
        virtual double isStateBalanced(unsigned short stateId) throw (hpp::Error);
349
        virtual void runSampleAnalysis(const char* analysis, double isstatic) throw (hpp::Error);
350
        virtual hpp::floatSeq* runLimbSampleAnalysis(const char* limbname, const char* analysis, double isstatic) throw (hpp::Error);
351
        virtual hpp::floatSeq* evaluateConfig(const hpp::floatSeq& configuration, const hpp::floatSeq &direction) throw (hpp::Error);
352
        virtual void dumpProfile(const char* logFile) throw (hpp::Error);
353
        virtual double getTimeAtState(unsigned short stateId)throw (hpp::Error);
354
        virtual Names_t* getContactsVariations(unsigned short stateIdFrom,unsigned short stateIdTo )throw (hpp::Error);
355
        virtual Names_t* getAllLimbsNames()throw (hpp::Error);
356
        virtual CORBA::Short addNewContact(unsigned short stateId, const char* limbName,
t steve's avatar
t steve committed
357
                                            const hpp::floatSeq& position, const hpp::floatSeq& normal, unsigned short max_num_sample) throw (hpp::Error);
t steve's avatar
t steve committed
358
        virtual CORBA::Short removeContact(unsigned short stateId, const char* limbName) throw (hpp::Error);
359
        virtual hpp::floatSeq* computeTargetTransform(const char* limbName, const hpp::floatSeq& configuration, const hpp::floatSeq& p, const hpp::floatSeq& n) throw (hpp::Error);
360
        virtual Names_t* getEffectorsTrajectoriesNames(unsigned short pathId)throw (hpp::Error);
361
        virtual hpp::floatSeqSeqSeq* getEffectorTrajectoryWaypoints(unsigned short pathId,const char* effectorName)throw (hpp::Error);
362
363
        virtual hpp::floatSeqSeq* getPathAsBezier(unsigned short pathId)throw (hpp::Error);

364

365
366
        virtual bool areKinematicsConstraintsVerified(const hpp::floatSeq &point)throw (hpp::Error);
        virtual bool areKinematicsConstraintsVerifiedForState(unsigned short stateId,const hpp::floatSeq &point)throw (hpp::Error);
367
        virtual hpp::floatSeq *isReachableFromState(unsigned short stateFrom,unsigned short stateTo)throw (hpp::Error);
368
        virtual hpp::floatSeq* isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, bool addPathPerPhase, const hpp::floatSeq &timings, short numPointPerPhase )throw (hpp::Error);
369

370

Steve Tonneau's avatar
Steve Tonneau committed
371
372
373
374
375
376
377
378
379
        void selectFullBody (const char* name) throw (hpp::Error)
        {
          std::string psName (name);
          bool has = fullBodyMap_.has (psName);
          if (!has)
              throw hpp::Error("unknown fullBody Problem");
          fullBodyMap_.selected_ = psName;
        }

Steve Tonneau's avatar
Steve Tonneau committed
380
        public:
381
382
        void SetProblemSolverMap (hpp::corbaServer::ProblemSolverMapPtr_t psMap);
        void initNewProblemSolver ();
Steve Tonneau's avatar
Steve Tonneau committed
383
384

        private:
Steve Tonneau's avatar
Steve Tonneau committed
385
        /// \brief Pointer to hppPlanner object of hpp::corbaServer::Server.
386
387
388
389
390
        corbaServer::ProblemSolverMapPtr_t psMap_;
        core::ProblemSolverPtr_t problemSolver()
        {
            return psMap_->selected();
        }
Steve Tonneau's avatar
Steve Tonneau committed
391
392
393
394
395
396
397
        FullBodyMap fullBodyMap_;
        rbprm::RbPrmFullBodyPtr_t fullBody()
        {
            if(!fullBodyLoaded_)
                throw Error ("No full body robot was loaded");
            return fullBodyMap_.selected();
        }
Steve Tonneau's avatar
Steve Tonneau committed
398
399

        private:
stevet's avatar
stevet committed
400
        pinocchio::T_Rom romDevices_;
Steve Tonneau's avatar
Steve Tonneau committed
401
        //rbprm::RbPrmFullBodyPtr_t fullBody_;
Steve Tonneau's avatar
Steve Tonneau committed
402
        bool romLoaded_;
Steve Tonneau's avatar
Steve Tonneau committed
403
        bool fullBodyLoaded_;
Steve Tonneau's avatar
Steve Tonneau committed
404
        BindShooter bindShooter_;
Steve Tonneau's avatar
Steve Tonneau committed
405
406
        rbprm::State startState_;
        rbprm::State endState_;
Steve Tonneau's avatar
Steve Tonneau committed
407
        std::vector<rbprm::State> lastStatesComputed_;
408
        rbprm::T_StateFrame lastStatesComputedTime_;
Steve Tonneau's avatar
Steve Tonneau committed
409
        sampling::AnalysisFactory* analysisFactory_;
stevet's avatar
stevet committed
410
        pinocchio::Configuration_t refPose_;
Steve Tonneau's avatar
Steve Tonneau committed
411
412
413
414
415
416
      }; // class RobotBuilder
    } // namespace impl
  } // namespace manipulation
} // namespace hpp

#endif // HPP_RBPRM_CORBA_BUILDER_IMPL_HH