rbprmbuilder.impl.cc 76.1 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
// Copyright (c) 2012 CNRS
// Author: Florent Lamiraux, Joseph Mirabel
//
// 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/>.

//#include <hpp/fcl/math/transform.h>
#include <hpp/util/debug.hh>
Steve Tonneau's avatar
Steve Tonneau committed
20
#include "hpp/corbaserver/rbprm/rbprmbuilder.hh"
Steve Tonneau's avatar
Steve Tonneau committed
21
22
#include "rbprmbuilder.impl.hh"
#include "hpp/rbprm/rbprm-device.hh"
Steve Tonneau's avatar
Steve Tonneau committed
23
#include "hpp/rbprm/rbprm-validation.hh"
24
#include "hpp/rbprm/interpolation/rbprm-path-interpolation.hh"
Steve Tonneau's avatar
Steve Tonneau committed
25
26
#include "hpp/rbprm/interpolation/limb-rrt.hh"
#include "hpp/rbprm/interpolation/com-rrt.hh"
27
#include "hpp/rbprm/interpolation/spline/effector-rrt.hh"
Steve Tonneau's avatar
Steve Tonneau committed
28
#include "hpp/rbprm/stability/stability.hh"
Steve Tonneau's avatar
Steve Tonneau committed
29
#include "hpp/rbprm/sampling/sample-db.hh"
Steve Tonneau's avatar
Steve Tonneau committed
30
#include "hpp/model/urdf/util.hh"
31
#include "hpp/core/straight-path.hh"
32
#include "hpp/model/joint.hh"
33
34
35
#include "hpp/core/config-validations.hh"
#include "hpp/core/collision-validation-report.hh"
#include <hpp/core/subchain-path.hh>
36
37
#include <hpp/core/basic-configuration-shooter.hh>
#include <hpp/core/collision-validation.hh>
Steve Tonneau's avatar
Steve Tonneau committed
38
#include <fstream>
Steve Tonneau's avatar
Steve Tonneau committed
39

Steve Tonneau's avatar
Steve Tonneau committed
40
41


Steve Tonneau's avatar
Steve Tonneau committed
42
43
44
45
namespace hpp {
  namespace rbprm {
    namespace impl {

Steve Tonneau's avatar
Steve Tonneau committed
46
47
48
    RbprmBuilder::RbprmBuilder ()
    : POA_hpp::corbaserver::rbprm::RbprmBuilder()
    , romLoaded_(false)
Steve Tonneau's avatar
Steve Tonneau committed
49
    , fullBodyLoaded_(false)
Steve Tonneau's avatar
Steve Tonneau committed
50
    , bindShooter_()
Steve Tonneau's avatar
Steve Tonneau committed
51
    , analysisFactory_(0)
Steve Tonneau's avatar
Steve Tonneau committed
52
53
54
55
    {
        // NOTHING
    }

Steve Tonneau's avatar
Steve Tonneau committed
56
57
58
59
60
61
62
63
64
    void RbprmBuilder::loadRobotRomModel(const char* robotName,
         const char* rootJointType,
         const char* packageName,
         const char* modelName,
         const char* urdfSuffix,
         const char* srdfSuffix) throw (hpp::Error)
    {
        try
        {
Steve Tonneau's avatar
Steve Tonneau committed
65
66
67
            hpp::model::DevicePtr_t romDevice = model::Device::create (robotName);
            romDevices_.insert(std::make_pair(robotName, romDevice));
            hpp::model::urdf::loadRobotModel (romDevice,
Steve Tonneau's avatar
Steve Tonneau committed
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
                    std::string (rootJointType),
                    std::string (packageName),
                    std::string (modelName),
                    std::string (urdfSuffix),
                    std::string (srdfSuffix));
        }
        catch (const std::exception& exc)
        {
            hppDout (error, exc.what ());
            throw hpp::Error (exc.what ());
        }
        romLoaded_ = true;
    }

    void RbprmBuilder::loadRobotCompleteModel(const char* robotName,
         const char* rootJointType,
         const char* packageName,
         const char* modelName,
         const char* urdfSuffix,
         const char* srdfSuffix) throw (hpp::Error)
    {
        if(!romLoaded_)
        {
            std::string err("Rom must be loaded before loading complete model") ;
Pierre Fernbach's avatar
Pierre Fernbach committed
92
            hppDout (error, err );
Steve Tonneau's avatar
Steve Tonneau committed
93
94
95
96
            throw hpp::Error(err.c_str());
        }
        try
        {
Steve Tonneau's avatar
Steve Tonneau committed
97
            hpp::model::RbPrmDevicePtr_t device = hpp::model::RbPrmDevice::create (robotName, romDevices_);
Steve Tonneau's avatar
Steve Tonneau committed
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
            hpp::model::urdf::loadRobotModel (device,
                    std::string (rootJointType),
                    std::string (packageName),
                    std::string (modelName),
                    std::string (urdfSuffix),
                    std::string (srdfSuffix));
            // Add device to the planner
            problemSolver_->robot (device);
            problemSolver_->robot ()->controlComputation
            (model::Device::JOINT_POSITION);
        }
        catch (const std::exception& exc)
        {
            hppDout (error, exc.what ());
            throw hpp::Error (exc.what ());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
116
117
118
119
120
121
122
123
124
125
    void RbprmBuilder::loadFullBodyRobot(const char* robotName,
         const char* rootJointType,
         const char* packageName,
         const char* modelName,
         const char* urdfSuffix,
         const char* srdfSuffix) throw (hpp::Error)
    {
        try
        {
            model::DevicePtr_t device = model::Device::create (robotName);
126
            hpp::model::urdf::loadRobotModel (device,
Steve Tonneau's avatar
Steve Tonneau committed
127
128
129
130
131
132
                    std::string (rootJointType),
                    std::string (packageName),
                    std::string (modelName),
                    std::string (urdfSuffix),
                    std::string (srdfSuffix));
            fullBody_ = rbprm::RbPrmFullBody::create(device);
Steve Tonneau's avatar
Steve Tonneau committed
133
            problemSolver_->pathValidationType ("Discretized",0.05); // reset to avoid conflict with rbprm path
134
            problemSolver_->robot (fullBody_->device_);
Steve Tonneau's avatar
Steve Tonneau committed
135
            problemSolver_->resetProblem();
136
137
            problemSolver_->robot ()->controlComputation
            (model::Device::JOINT_POSITION);
Steve Tonneau's avatar
Steve Tonneau committed
138
139
140
141
142
143
144
        }
        catch (const std::exception& exc)
        {
            hppDout (error, exc.what ());
            throw hpp::Error (exc.what ());
        }
        fullBodyLoaded_ = true;
145
        analysisFactory_ = new sampling::AnalysisFactory(fullBody_);
Steve Tonneau's avatar
Steve Tonneau committed
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
    }

    hpp::floatSeq* RbprmBuilder::getSampleConfig(const char* limb, unsigned short sampleId) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        const T_Limb& limbs = fullBody_->GetLimbs();
        T_Limb::const_iterator lit = limbs.find(std::string(limb));
        if(lit == limbs.end())
        {
            std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
        const RbPrmLimbPtr_t& limbPtr = lit->second;
        hpp::floatSeq *dofArray;
        Eigen::VectorXd config = fullBody_->device_->currentConfiguration ();
        if(sampleId > limbPtr->sampleContainer_.samples_.size())
        {
            std::string err("Limb " + std::string(limb) + "does not have samples.");
            throw Error (err.c_str());
        }
        const sampling::Sample& sample = limbPtr->sampleContainer_.samples_[sampleId];
Steve Tonneau's avatar
Steve Tonneau committed
168
        config.segment(sample.startRank_, sample.length_) = sample.configuration_;
Steve Tonneau's avatar
Steve Tonneau committed
169
170
171
172
173
174
175
        dofArray = new hpp::floatSeq();
        dofArray->length(_CORBA_ULong(config.rows()));
        for(std::size_t i=0; i< _CORBA_ULong(config.rows()); i++)
          (*dofArray)[(_CORBA_ULong)i] = config [i];
        return dofArray;
    }

Steve Tonneau's avatar
Steve Tonneau committed
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203

    hpp::floatSeq* RbprmBuilder::getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        const T_Limb& limbs = fullBody_->GetLimbs();
        T_Limb::const_iterator lit = limbs.find(std::string(limb));
        if(lit == limbs.end())
        {
            std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
        const RbPrmLimbPtr_t& limbPtr = lit->second;
        hpp::floatSeq *dofArray;
        if(sampleId > limbPtr->sampleContainer_.samples_.size())
        {
            std::string err("Limb " + std::string(limb) + "does not have samples.");
            throw Error (err.c_str());
        }
        const sampling::Sample& sample = limbPtr->sampleContainer_.samples_[sampleId];
        const fcl::Vec3f& position = sample.effectorPosition_;
        dofArray = new hpp::floatSeq();
        dofArray->length(_CORBA_ULong(3));
        for(std::size_t i=0; i< 3; i++)
          (*dofArray)[(_CORBA_ULong)i] = position [i];
        return dofArray;
    }

Steve Tonneau's avatar
Steve Tonneau committed
204

205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
    typedef Eigen::Matrix <value_type, 4, 3, Eigen::RowMajor> Matrix43;
    typedef Eigen::Matrix <value_type, 4, 3, Eigen::RowMajor> Rotation;
    typedef Eigen::Ref<Matrix43> Ref_matrix43;

    std::vector<fcl::Vec3f> computeRectangleContact(const rbprm::RbPrmFullBodyPtr_t device,
                                                    const rbprm::State& state)
    {
        std::vector<fcl::Vec3f> res;
        const rbprm::T_Limb& limbs = device->GetLimbs();
        rbprm::RbPrmLimbPtr_t limb;
        Matrix43 p; Eigen::Matrix3d R;
        for(std::map<std::string, fcl::Vec3f>::const_iterator cit = state.contactPositions_.begin();
            cit != state.contactPositions_.end(); ++cit)
        {
            const std::string& name = cit->first;
            const fcl::Vec3f& position = cit->second;
            limb = limbs.at(name);
            const double& lx = limb->x_, ly = limb->y_;
            p << lx,  ly, 0,
                 lx, -ly, 0,
                -lx, -ly, 0,
                -lx,  ly, 0;
            if(limb->contactType_ == _3_DOF)
            {
                //create rotation matrix from normal
                fcl::Vec3f z_fcl = state.contactNormals_.at(name);
                Eigen::Vector3d z,x,y;
                for(int i =0; i<3; ++i) z[i] = z_fcl[i];
                x = z.cross(Eigen::Vector3d(0,-1,0));
                if(x.norm() < 10e-6)
                {
                    y = z.cross(fcl::Vec3f(1,0,0));
                    y.normalize();
                    x = y.cross(z);
                }
                else
                {
                    x.normalize();
                    y = z.cross(x);
                }
                R.block<3,1>(0,0) = x;
                R.block<3,1>(0,1) = y;
                R.block<3,1>(0,2) = z;
            }
            else
            {
                const fcl::Matrix3f& fclRotation = state.contactRotation_.at(name);
                for(int i =0; i< 3; ++i)
                    for(int j =0; j<3;++j)
                        R(i,j) = fclRotation(i,j);
            }
            for(std::size_t i =0; i<4; ++i)
            {
                res.push_back(position + (R*p.row(i).transpose()));
                res.push_back(state.contactNormals_.at(name));
            }
        }
        return res;
    }

    model::Configuration_t dofArrayToConfig (const std::size_t& deviceDim,
      const hpp::floatSeq& dofArray)
    {
        std::size_t configDim = (std::size_t)dofArray.length();
        // Fill dof vector with dof array.
        model::Configuration_t config; config.resize (configDim);
        for (std::size_t iDof = 0; iDof < configDim; iDof++) {
            config [iDof] = (double)dofArray[(_CORBA_ULong)iDof];
        }
        // fill the vector by zero
        hppDout (info, "config dimension: " <<configDim
           <<",  deviceDim "<<deviceDim);
        if(configDim != deviceDim){
            throw hpp::Error ("dofVector Does not match");
        }
        return config;
    }

    model::Configuration_t dofArrayToConfig (const model::DevicePtr_t& robot,
      const hpp::floatSeq& dofArray)
    {
        return dofArrayToConfig(robot->configSize(), dofArray);
    }

    T_Configuration doubleDofArrayToConfig (const std::size_t& deviceDim,
      const hpp::floatSeqSeq& doubleDofArray)
    {
        std::size_t configsDim = (std::size_t)doubleDofArray.length();
        T_Configuration res;
        for (_CORBA_ULong iConfig = 0; iConfig < configsDim; iConfig++)
        {
            res.push_back(dofArrayToConfig(deviceDim, doubleDofArray[iConfig]));
        }
        return res;
    }

    T_Configuration doubleDofArrayToConfig (const model::DevicePtr_t& robot,
      const hpp::floatSeqSeq& doubleDofArray)
    {
        return doubleDofArrayToConfig(robot->configSize(), doubleDofArray);
    }

    hpp::floatSeqSeq* RbprmBuilder::getEffectorPosition(const char* lb, const hpp::floatSeq& configuration) throw (hpp::Error)
    {
        try
        {
            const std::string limbName(lb);
            const RbPrmLimbPtr_t limb = fullBody_->GetLimbs().at(limbName);
            model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
            fullBody_->device_->currentConfiguration(config);
            fullBody_->device_->computeForwardKinematics();
            State state;
            state.configuration_ = config;
            state.contacts_[limbName] = true;
            const fcl::Vec3f z = limb->effector_->currentTransformation().getRotation() * limb->normal_;
            const fcl::Vec3f position = limb->effector_->currentTransformation().getTranslation();
            const fcl::Matrix3f alignRotation = tools::GetRotationMatrix(z,fcl::Vec3f(0,0,1));
            fcl::Matrix3f rotation = alignRotation * limb->effector_->initialPosition ().getRotation();
            fcl::Vec3f posOffset = position + rotation * limb->offset_;
            state.contactPositions_[limbName] = posOffset;
            state.contactNormals_[limbName] = fcl::Vec3f(0,0,1);
            state.contactRotation_[limbName] = limb->effector_->currentTransformation().getRotation();
            std::vector<fcl::Vec3f> poss = (computeRectangleContact(fullBody_, state));

            hpp::floatSeqSeq *res;
            res = new hpp::floatSeqSeq ();
            res->length ((_CORBA_ULong)poss.size ());
            for(std::size_t i = 0; i < poss.size(); ++i)
            {
                _CORBA_ULong size = (_CORBA_ULong) (3);
                double* dofArray = hpp::floatSeq::allocbuf(size);
                hpp::floatSeq floats (size, size, dofArray, true);
                //convert the config in dofseq
                for(std::size_t j=0; j<3; j++)
                {
                    dofArray[j] = poss[i][j];
                }
                (*res) [(_CORBA_ULong)i] = floats;
            }
            return res;
        }
        catch (const std::exception& exc)
        {
            throw hpp::Error (exc.what ());
        }
    }


Steve Tonneau's avatar
Steve Tonneau committed
353
354
355
356
357
358
359
360
361
    CORBA::UShort RbprmBuilder::getNumSamples(const char* limb) throw (hpp::Error)
    {
        const T_Limb& limbs = fullBody_->GetLimbs();
        T_Limb::const_iterator lit = limbs.find(std::string(limb));
        if(lit == limbs.end())
        {
            std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
362
        return (CORBA::UShort)(lit->second->sampleContainer_.samples_.size());
Steve Tonneau's avatar
Steve Tonneau committed
363
364
    }

365
366
367
368
369
370
371
372
373
374
375
    floatSeq *RbprmBuilder::getOctreeNodeIds(const char* limb) throw (hpp::Error)
    {
        const T_Limb& limbs = fullBody_->GetLimbs();
        T_Limb::const_iterator lit = limbs.find(std::string(limb));
        if(lit == limbs.end())
        {
            std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
        const sampling::T_VoxelSampleId& ids =  lit->second->sampleContainer_.samplesInVoxels_;
        hpp::floatSeq* dofArray = new hpp::floatSeq();
376
        dofArray->length((_CORBA_ULong)ids.size());
377
378
379
        sampling::T_VoxelSampleId::const_iterator it = ids.begin();
        for(std::size_t i=0; i< _CORBA_ULong(ids.size()); ++i, ++it)
        {
380
          (*dofArray)[(_CORBA_ULong)i] = (double)it->first;
381
382
383
384
        }
        return dofArray;
    }

Steve Tonneau's avatar
Steve Tonneau committed
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
    double RbprmBuilder::getSampleValue(const char* limb, const char* valueName, unsigned short sampleId) throw (hpp::Error)
    {
        const T_Limb& limbs = fullBody_->GetLimbs();
        T_Limb::const_iterator lit = limbs.find(std::string(limb));
        if(lit == limbs.end())
        {
            std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
        const sampling::SampleDB& database = lit->second->sampleContainer_;
        if (database.samples_.size() <= sampleId)
        {
            std::string err("unexisting sample id " + sampleId);
            throw Error (err.c_str());
        }
        sampling::T_Values::const_iterator cit = database.values_.find(std::string(valueName));
        if(cit == database.values_.end())
        {
            std::string err("value not existing in database " + std::string(valueName));
            throw Error (err.c_str());
        }
        return cit->second[sampleId];
    }

409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426

    double RbprmBuilder::getEffectorDistance(unsigned short state1, unsigned short state2) throw (hpp::Error)
    {
        try
        {
            std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
            if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
            {
                throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s1) + ", " + std::string(""+s2));
            }
            return rbprm::effectorDistance(lastStatesComputed_[s1], lastStatesComputed_[s2]);
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
427
428
429
430
    std::vector<std::string> stringConversion(const hpp::Names_t& dofArray)
    {
        std::vector<std::string> res;
        std::size_t dim = (std::size_t)dofArray.length();
431
        for (_CORBA_ULong iDof = 0; iDof < dim; iDof++)
Steve Tonneau's avatar
Steve Tonneau committed
432
433
434
435
436
        {
            res.push_back(std::string(dofArray[iDof]));
        }
        return res;
    }
Steve Tonneau's avatar
Steve Tonneau committed
437

Steve Tonneau's avatar
Steve Tonneau committed
438
439
440
441
    std::vector<double> doubleConversion(const hpp::floatSeq& dofArray)
    {
        std::vector<double> res;
        std::size_t dim = (std::size_t)dofArray.length();
442
        for (_CORBA_ULong iDof = 0; iDof < dim; iDof++)
Steve Tonneau's avatar
Steve Tonneau committed
443
444
445
446
447
448
        {
            res.push_back(dofArray[iDof]);
        }
        return res;
    }

Steve Tonneau's avatar
Steve Tonneau committed
449
450
451
452
453
454

    void RbprmBuilder::setFilter(const hpp::Names_t& roms) throw (hpp::Error)
    {
        bindShooter_.romFilter_ = stringConversion(roms);
    }

455

456
    void RbprmBuilder::setAffordanceFilter(const char* romName, const hpp::Names_t& affordances) throw (hpp::Error)
457
    {
458
459
460
461
        std::string name (romName);
				std::vector<std::string> affNames = stringConversion(affordances);
        bindShooter_.affFilter_.erase(name);
        bindShooter_.affFilter_.insert(std::make_pair(name,affNames));
462
463
    }

Steve Tonneau's avatar
Steve Tonneau committed
464
465
466
467
468
469
470
471
472
473
474
    void RbprmBuilder::boundSO3(const hpp::floatSeq& limitszyx) throw (hpp::Error)
    {
        std::vector<double> limits = doubleConversion(limitszyx);
        if(limits.size() !=6)
        {
            throw Error ("Can not bound SO3, array of 6 double required");
        }
        bindShooter_.so3Bounds_ = limits;

    }

475
476
    hpp::floatSeq* RbprmBuilder::generateContacts(const hpp::floatSeq& configuration,
			const hpp::floatSeq& direction) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
477
478
479
480
481
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
482
            fcl::Vec3f dir;
Steve Tonneau's avatar
Steve Tonneau committed
483
484
            for(std::size_t i =0; i <3; ++i)
            {
485
                dir[i] = direction[(_CORBA_ULong)i];
Steve Tonneau's avatar
Steve Tonneau committed
486
            }
487
488
489
						const affMap_t &affMap = problemSolver_->map
							<std::vector<boost::shared_ptr<model::CollisionObject> > > ();
		        if (affMap.empty ()) {
490
491
    	        throw hpp::Error ("No affordances found. Unable to generate Contacts.");
      		  }
Steve Tonneau's avatar
Steve Tonneau committed
492
            model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
493
494
            rbprm::State state = rbprm::ComputeContacts(fullBody_,config,
							affMap, bindShooter_.affFilter_, dir);
Steve Tonneau's avatar
Steve Tonneau committed
495
            hpp::floatSeq* dofArray = new hpp::floatSeq();
Steve Tonneau's avatar
stair    
Steve Tonneau committed
496
            dofArray->length(_CORBA_ULong(state.configuration_.rows()));
Steve Tonneau's avatar
Steve Tonneau committed
497
498
499
500
501
502
503
504
            for(std::size_t i=0; i< _CORBA_ULong(config.rows()); i++)
              (*dofArray)[(_CORBA_ULong)i] = state.configuration_ [i];
            return dofArray;
        } catch (const std::exception& exc) {
        throw hpp::Error (exc.what ());
        }
    }

505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
    hpp::floatSeq* RbprmBuilder::generateGroundContact(const hpp::Names_t& contactLimbs) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
            fcl::Vec3f z(0,0,1);
            ValidationReportPtr_t report = ValidationReportPtr_t(new CollisionValidationReport);
            core::BasicConfigurationShooterPtr_t  shooter = core::BasicConfigurationShooter::create(fullBody_->device_);
            for(int i =0; i< 1000; ++i)
            {
                std::vector<std::string> names = stringConversion(contactLimbs);
                core::ConfigProjectorPtr_t proj = core::ConfigProjector::create(fullBody_->device_,"proj", 1e-4, 1000);
                //hpp::tools::LockJointRec(limb->limb_->name(), body->device_->rootJoint(), proj);
                for(std::vector<std::string>::const_iterator cit = names.begin(); cit !=names.end(); ++cit)
                {
                    rbprm::RbPrmLimbPtr_t limb = fullBody_->GetLimbs().at(*cit);
                    fcl::Transform3f localFrame, globalFrame;
523
                    localFrame.setTranslation(-limb->offset_);
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
                    std::vector<bool> posConstraints;
                    std::vector<bool> rotConstraints;
                    posConstraints.push_back(false);posConstraints.push_back(false);posConstraints.push_back(true);
                    rotConstraints.push_back(true);rotConstraints.push_back(true);rotConstraints.push_back(true);
                    proj->add(core::NumericalConstraint::create (constraints::Position::create("",fullBody_->device_,
                                                                                               limb->effector_,
                                                                                               globalFrame,
                                                                                               localFrame,
                                                                                               posConstraints)));
                    if(limb->contactType_ == hpp::rbprm::_6_DOF)
                    {
                        // rotation matrix around z
                        value_type theta = 2*(value_type(rand()) / value_type(RAND_MAX) - 0.5) * M_PI;
                        fcl::Matrix3f r = tools::GetZRotMatrix(theta);
                        fcl::Matrix3f rotation = r * limb->effector_->initialPosition ().getRotation();
                        proj->add(core::NumericalConstraint::create (constraints::Orientation::create("",fullBody_->device_,
                                                                                                      limb->effector_,
                                                                                                      fcl::Transform3f(rotation),
                                                                                                      rotConstraints)));
                    }
                }
                ConfigurationPtr_t configptr = shooter->shoot();
                Configuration_t config = *configptr;
                if(proj->apply(config) && config[2]> 0.3)
                {
                    if(problemSolver_->problem()->configValidations()->validate(config,report))
                    {
                        State tmp;
                        for(std::vector<std::string>::const_iterator cit = names.begin(); cit !=names.end(); ++cit)
                        {
                            std::string limbId = *cit;
                            rbprm::RbPrmLimbPtr_t limb = fullBody_->GetLimbs().at(*cit);
                            tmp.contacts_[limbId] = true;
                            tmp.contactPositions_[limbId] = limb->effector_->currentTransformation().getTranslation();
                            tmp.contactRotation_[limbId] = limb->effector_->currentTransformation().getRotation();
                            tmp.contactNormals_[limbId] = z;
                            tmp.configuration_ = config;
                            ++tmp.nbContacts;
                        }
                        if(stability::IsStable(fullBody_,tmp)>=0)
                        {
                            config[0]=0;
                            config[1]=0;
                            hpp::floatSeq* dofArray = new hpp::floatSeq();
                            dofArray->length(_CORBA_ULong(config.rows()));
                            for(std::size_t j=0; j< config.rows(); j++)
                            {
                              (*dofArray)[(_CORBA_ULong)j] = config [j];
                            }
                            return dofArray;
                        }
                    }
                }
            }
            throw (std::runtime_error("could not generate contact configuration after 1000 trials"));
        } catch (const std::exception& exc) {
        throw hpp::Error (exc.what ());
        }
    }

584
585
586
587
588
589
590
591
    hpp::floatSeq* RbprmBuilder::getContactSamplesIds(const char* limbname,
                                        const hpp::floatSeq& configuration,
                                        const hpp::floatSeq& direction) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
592
            fcl::Vec3f dir;
593
594
            for(std::size_t i =0; i <3; ++i)
            {
595
                dir[i] = direction[(_CORBA_ULong)i];
596
597
            }
            model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
Steve Tonneau's avatar
Steve Tonneau committed
598
599
            model::Configuration_t save = fullBody_->device_->currentConfiguration();
            fullBody_->device_->currentConfiguration(config);
600
601
602
603
604
605

            sampling::T_OctreeReport finalSet;
            rbprm::T_Limb::const_iterator lit = fullBody_->GetLimbs().find(std::string(limbname));
            if(lit == fullBody_->GetLimbs().end())
            {
                throw std::runtime_error ("Impossible to find limb for joint "
Steve Tonneau's avatar
Steve Tonneau committed
606
                                          + std::string(limbname) + " to robot; limb not defined.");
607
608
            }
            const RbPrmLimbPtr_t& limb = lit->second;
Steve Tonneau's avatar
Steve Tonneau committed
609
            fcl::Transform3f transform = limb->limb_->robot()->rootJoint()->childJoint(0)->currentTransformation (); // get root transform from configuration
610
                        // TODO fix as in rbprm-fullbody.cc!!
611
612
613
614
615
616
            std::vector<sampling::T_OctreeReport> reports(problemSolver_->collisionObstacles().size());
            std::size_t i (0);
            //#pragma omp parallel for
            for(model::ObjectVector_t::const_iterator oit = problemSolver_->collisionObstacles().begin();
                oit != problemSolver_->collisionObstacles().end(); ++oit, ++i)
            {
Steve Tonneau's avatar
Steve Tonneau committed
617
                sampling::GetCandidates(limb->sampleContainer_, transform, *oit, dir, reports[i]);
618
619
620
621
622
623
624
            }
            for(std::vector<sampling::T_OctreeReport>::const_iterator cit = reports.begin();
                cit != reports.end(); ++cit)
            {
                finalSet.insert(cit->begin(), cit->end());
            }
            hpp::floatSeq* dofArray = new hpp::floatSeq();
625
            dofArray->length((_CORBA_ULong)finalSet.size());
626
627
628
            sampling::T_OctreeReport::const_iterator candCit = finalSet.begin();
            for(std::size_t i=0; i< _CORBA_ULong(finalSet.size()); ++i, ++candCit)
            {
629
              (*dofArray)[(_CORBA_ULong)i] = (double)candCit->sample_->id_;
630
            }
Steve Tonneau's avatar
Steve Tonneau committed
631
            fullBody_->device_->currentConfiguration(save);
632
633
634
635
636
637
            return dofArray;
        } catch (const std::exception& exc) {
        throw hpp::Error (exc.what ());
        }
    }

638
639
640
641
642
643
644
    hpp::floatSeq* RbprmBuilder::getSamplesIdsInOctreeNode(const char* limb,
                                                           double octreeNodeId) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
645
            long ocId ((long)octreeNodeId);
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
            const T_Limb& limbs = fullBody_->GetLimbs();
            T_Limb::const_iterator lit = limbs.find(std::string(limb));
            if(lit == limbs.end())
            {
                std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
                throw Error (err.c_str());
            }
            const sampling::T_VoxelSampleId& sampleIds =  lit->second->sampleContainer_.samplesInVoxels_;
            sampling::T_VoxelSampleId::const_iterator cit = sampleIds.find(ocId);
            if(cit == sampleIds.end())
            {
                std::stringstream ss; ss << ocId;
                std::string err("No octree node with id " + ss.str() + "was defined for robot" + fullBody_->device_->name());
                throw Error (err.c_str());
            }
            const sampling::VoxelSampleId& ids = cit->second;
            hpp::floatSeq* dofArray = new hpp::floatSeq();
663
            dofArray->length((_CORBA_ULong)ids.second);
664
665
666
            std::size_t sampleId = ids.first;
            for(std::size_t i=0; i< _CORBA_ULong(ids.second); ++i, ++sampleId)
            {
667
              (*dofArray)[(_CORBA_ULong)i] = (double)sampleId;
668
669
670
671
672
673
674
            }
            return dofArray;
        } catch (const std::exception& exc) {
        throw hpp::Error (exc.what ());
        }
    }

675
    void RbprmBuilder::addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y,
676
                               unsigned short samples, const char* heuristicName, double resolution, const char *contactType, double disableEffectorCollision) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
677
678
679
680
681
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
Steve Tonneau's avatar
Steve Tonneau committed
682
            fcl::Vec3f off, norm;
683
684
            for(std::size_t i =0; i <3; ++i)
            {
685
686
                off[i] = offset[(_CORBA_ULong)i];
                norm[i] = normal[(_CORBA_ULong)i];
687
            }
688
689
690
691
692
            ContactType cType = hpp::rbprm::_6_DOF;
            if(std::string(contactType) == "_3_DOF")
            {
                cType = hpp::rbprm::_3_DOF;
            }
693
694
            fullBody_->AddLimb(std::string(id), std::string(limb), std::string(effector), off, norm, x, y,
                               problemSolver_->collisionObstacles(), samples,heuristicName,resolution,cType,disableEffectorCollision > 0.5);
Steve Tonneau's avatar
Steve Tonneau committed
695
696
697
698
699
700
701
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
702

703
    void RbprmBuilder::addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName, double loadValues, double disableEffectorCollision) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
704
705
706
707
708
709
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
            std::string fileName(databasePath);
710
711
            fullBody_->AddLimb(fileName, std::string(id), problemSolver_->collisionObstacles(), heuristicName, loadValues > 0.5,
                               disableEffectorCollision > 0.5);
Steve Tonneau's avatar
Steve Tonneau committed
712
713
714
715
716
717
718
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

719
720
721
    void SetPositionAndNormal(rbprm::State& state,
			hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const hpp::floatSeq& configuration,
			const hpp::Names_t& contactLimbs)
Steve Tonneau's avatar
Steve Tonneau committed
722
723
724
725
    {
        core::Configuration_t old = fullBody->device_->currentConfiguration();
        model::Configuration_t config = dofArrayToConfig (fullBody->device_, configuration);
        fullBody->device_->currentConfiguration(config);
Steve Tonneau's avatar
Steve Tonneau committed
726
        fullBody->device_->computeForwardKinematics();
Steve Tonneau's avatar
Steve Tonneau committed
727
728
729
730
731
732
733
        std::vector<std::string> names = stringConversion(contactLimbs);
        for(std::vector<std::string>::const_iterator cit = names.begin(); cit != names.end();++cit)
        {
            rbprm::T_Limb::const_iterator lit = fullBody->GetLimbs().find(*cit);
            if(lit == fullBody->GetLimbs().end())
            {
                throw std::runtime_error ("Impossible to find limb for joint "
Steve Tonneau's avatar
Steve Tonneau committed
734
                                          + (*cit) + " to robot; limb not defined");
Steve Tonneau's avatar
Steve Tonneau committed
735
736
737
738
739
            }
            const core::JointPtr_t joint = fullBody->device_->getJointByName(lit->second->effector_->name());
            const fcl::Transform3f& transform =  joint->currentTransformation ();
            const fcl::Matrix3f& rot = transform.getRotation();
            state.contactPositions_[*cit] = transform.getTranslation();
Steve Tonneau's avatar
Steve Tonneau committed
740
            state.contactRotation_[*cit] = rot;
Steve Tonneau's avatar
Steve Tonneau committed
741
742
            state.contactNormals_[*cit] = fcl::Vec3f(rot(0,2),rot(1,2), rot(2,2));
            state.contacts_[*cit] = true;
Steve Tonneau's avatar
Steve Tonneau committed
743
            state.contactOrder_.push(*cit);
Steve Tonneau's avatar
Steve Tonneau committed
744
745
        }        
        state.nbContacts = state.contactNormals_.size() ;
Steve Tonneau's avatar
Steve Tonneau committed
746
        state.configuration_ = config;
747
748
        state.robustness =  stability::IsStable(fullBody,state);
        state.stable = state.robustness >= 0;
Steve Tonneau's avatar
Steve Tonneau committed
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
        fullBody->device_->currentConfiguration(old);
    }

    void RbprmBuilder::setStartState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error)
    {
        try
        {
            SetPositionAndNormal(startState_,fullBody_, configuration, contactLimbs);
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

    void RbprmBuilder::setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error)
    {
        try
        {
            SetPositionAndNormal(endState_,fullBody_, configuration, contactLimbs);
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

776
777
778
779
780
781
782
783
784
785
786
    std::vector<State> TimeStatesToStates(const T_StateFrame& ref)
    {
        std::vector<State> res;
        for(CIT_StateFrame cit = ref.begin(); cit != ref.end(); ++cit)
        {
            res.push_back(cit->second);
        }
        return res;
    }

    floatSeqSeq* RbprmBuilder::interpolateConfigs(const hpp::floatSeqSeq& configs, double robustnessTreshold) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
787
788
789
790
791
792
793
794
795
796
797
    {
        try
        {
            if(startState_.configuration_.rows() == 0)
            {
                throw std::runtime_error ("Start state not initialized, can not interpolate ");
            }
            if(endState_.configuration_.rows() == 0)
            {
                throw std::runtime_error ("End state not initialized, can not interpolate ");
            }
798
            T_Configuration configurations = doubleDofArrayToConfig(fullBody_->device_, configs);
799
800
801
802
803
804
805
806
807
            const affMap_t &affMap = problemSolver_->map
                        <std::vector<boost::shared_ptr<model::CollisionObject> > > ();
            if (affMap.empty ())
            {
                throw hpp::Error ("No affordances found. Unable to interpolate.");
            }
            hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator = rbprm::interpolation::RbPrmInterpolation::create(fullBody_,startState_,endState_);
            lastStatesComputedTime_ = interpolator->Interpolate(affMap, bindShooter_.affFilter_,configurations,robustnessTreshold);
            lastStatesComputed_ = TimeStatesToStates(lastStatesComputedTime_);
Steve Tonneau's avatar
Steve Tonneau committed
808
809
810
            hpp::floatSeqSeq *res;
            res = new hpp::floatSeqSeq ();

811
            res->length ((_CORBA_ULong)lastStatesComputed_.size ());
Steve Tonneau's avatar
Steve Tonneau committed
812
813
            std::size_t i=0;
            std::size_t id = 0;
814
            for(std::vector<State>::const_iterator cit = lastStatesComputed_.begin(); cit != lastStatesComputed_.end(); ++cit, ++id)
Steve Tonneau's avatar
Steve Tonneau committed
815
816
817
818
819
820
821
822
823
824
825
            {
                std::cout << "ID " << id;
                cit->print();
                const core::Configuration_t config = cit->configuration_;
                _CORBA_ULong size = (_CORBA_ULong) config.size ();
                double* dofArray = hpp::floatSeq::allocbuf(size);
                hpp::floatSeq floats (size, size, dofArray, true);
                //convert the config in dofseq
                for (model::size_type j=0 ; j < config.size() ; ++j) {
                  dofArray[j] = config [j];
                }
826
                (*res) [(_CORBA_ULong)i] = floats;
Steve Tonneau's avatar
Steve Tonneau committed
827
828
829
830
831
832
833
834
835
                ++i;
            }
            return res;
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }
Steve Tonneau's avatar
Steve Tonneau committed
836

837
    hpp::floatSeqSeq* contactCone(RbPrmFullBodyPtr_t& fullBody, State& state, const double friction)
838
839
840
841
    {
        hpp::floatSeqSeq *res;
        res = new hpp::floatSeqSeq ();

842
        std::pair<stability::MatrixXX, stability::VectorX> cone = stability::ComputeCentroidalCone(fullBody, state, friction);
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
        res->length ((_CORBA_ULong)cone.first.rows());
        _CORBA_ULong size = (_CORBA_ULong) cone.first.cols()+1;
        for(int i=0; i < cone.first.rows(); ++i)
        {
            double* dofArray = hpp::floatSeq::allocbuf(size);
            hpp::floatSeq floats (size, size, dofArray, true);
            //convert the row in dofseq
            for (int j=0 ; j < cone.first.cols() ; ++j)
            {
                dofArray[j] = cone.first(i,j);
            }
            dofArray[size-1] =cone.second[i];
            (*res) [(_CORBA_ULong)i] = floats;
        }
        return res;
    }

860
    hpp::floatSeqSeq* RbprmBuilder::getContactCone(unsigned short stateId, double friction) throw (hpp::Error)
861
862
863
864
865
866
867
    {
        try
        {
            if(lastStatesComputed_.size() <= stateId)
            {
                throw std::runtime_error ("Unexisting state " + std::string(""+(stateId)));
            }
868
            return contactCone(fullBody_, lastStatesComputed_[stateId],friction);
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

    State intermediary(const State& firstState, const State& thirdState, unsigned short& cId, bool& success)
    {
        success = false;
        std::vector<std::string> breaks;
        thirdState.contactBreaks(firstState, breaks);
        if(breaks.size() > 1)
        {
            throw std::runtime_error ("too many contact breaks between states" + std::string(""+cId) +
                                      "and " + std::string(""+(cId + 1)));
        }
        if(breaks.size() == 1)
        {
            State intermediary(firstState);
            intermediary.RemoveContact(*breaks.begin());
            success = true;
891
            return intermediary;
892
893
894
895
        }
        return firstState;
    }

896
    hpp::floatSeqSeq* RbprmBuilder::getContactIntermediateCone(unsigned short stateId, double friction) throw (hpp::Error)
897
898
899
900
901
902
903
904
905
906
907
908
909
    {
        try
        {
            if(lastStatesComputed_.size() <= stateId+1)
            {
                throw std::runtime_error ("Unexisting state " + std::string(""+(stateId+1)));
            }
            bool success;
            State intermediaryState = intermediary(lastStatesComputed_[stateId], lastStatesComputed_[stateId+1],stateId,success);
            if(!success)
            {
                throw std::runtime_error ("No contact breaks, hence no intermediate state from state " + std::string(""+(stateId)));
            }
910
            return contactCone(fullBody_,intermediaryState, friction);
911
912
913
914
915
916
917
918
919
920
921
922
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

    core::PathPtr_t makePath(DevicePtr_t device,
                             const ProblemPtr_t& problem,
                             model::ConfigurationIn_t q1,
                             model::ConfigurationIn_t q2)
    {
Steve Tonneau's avatar
Steve Tonneau committed
923
924
        // TODO DT
        return StraightPath::create(device, q1, q2, 0.1);
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
    }

    model::Configuration_t addRotation(CIT_Configuration& pit, const model::value_type& u,
                              model::ConfigurationIn_t q1, model::ConfigurationIn_t q2,
                              model::ConfigurationIn_t ref)
    {
        model::Configuration_t res = ref;
        res.head(3) = *pit;
        res.segment<4>(3) = tools::interpolate(q1, q2, u);
        return res;
    }

    core::PathVectorPtr_t addRotations(const T_Configuration& positions,
                                       model::ConfigurationIn_t q1, model::ConfigurationIn_t q2,
                                       model::ConfigurationIn_t ref, DevicePtr_t device,
                                       const ProblemPtr_t& problem)
    {
        core::PathVectorPtr_t res = core::PathVector::create(device->configSize(), device->numberDof());
        model::value_type size_step = 1 /(model::value_type)(positions.size());
        model::value_type u = 0.;
        CIT_Configuration pit = positions.begin();
        model::Configuration_t previous = addRotation(pit, 0., q1, q2, ref), current;
        ++pit;
        for(;pit != positions.end()-1; ++pit, u+=size_step)
        {
            current = addRotation(pit, u, q1, q2, ref);
            res->appendPath(makePath(device,problem, previous, current));
            previous = current;
        }
        // last configuration is exactly q2
        current = addRotation(pit, 1., q1, q2, ref);
        res->appendPath(makePath(device,problem, previous, current));
        return res;
    }

Steve Tonneau's avatar
Steve Tonneau committed
960
961
962
963
964
965
   core::PathVectorPtr_t generateComPath(RbPrmFullBodyPtr_t& fullBody, core::ProblemSolverPtr_t problemSolver, const hpp::floatSeqSeq& rootPositions,
                          const model::Configuration_t q1, const model::Configuration_t q2) throw (hpp::Error)
    {
        try
        {
            T_Configuration positions = doubleDofArrayToConfig(3, rootPositions);
966
967
968
969
            if(positions.size() <2)
            {
                throw std::runtime_error("generateComPath requires at least 2 configurations to generate path");
            }
Steve Tonneau's avatar
Steve Tonneau committed
970
971
972
973
974
975
976
977
978
979
            return addRotations(positions,q1,q2,fullBody->device_->currentConfiguration(),
                                                 fullBody->device_,problemSolver->problem());
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }


980
    CORBA::Short RbprmBuilder::generateRootPath(const hpp::floatSeqSeq& rootPositions,
981
982
983
984
985
                          const hpp::floatSeq& q1Seq, const hpp::floatSeq& q2Seq) throw (hpp::Error)
    {
        try
        {
            model::Configuration_t q1 = dofArrayToConfig(4, q1Seq), q2 = dofArrayToConfig(4, q2Seq);
Steve Tonneau's avatar
Steve Tonneau committed
986
            return problemSolver_->addPath(generateComPath(fullBody_, problemSolver_, rootPositions, q1, q2));
987
988
989
990
991
992
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }
993
994
995
996
997
998
999
1000


    floatSeqSeq* RbprmBuilder::computeContactPoints(unsigned short cId) throw (hpp::Error)
    {
        if(lastStatesComputed_.size() <= cId + 1)
        {
            throw std::runtime_error ("Unexisting state " + std::string(""+(cId+1)));
        }