rbprmbuilder.impl.cc 41.3 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) 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>
#include "rbprmbuilder.impl.hh"
#include "hpp/rbprm/rbprm-device.hh"
Steve Tonneau's avatar
Steve Tonneau committed
22
#include "hpp/rbprm/rbprm-validation.hh"
23
#include "hpp/rbprm/interpolation/rbprm-path-interpolation.hh"
24
#include "hpp/rbprm/interpolation/limb-rrt-helper.hh"
25
#include "hpp/rbprm/interpolation/limb-rrt-path.hh"
Steve Tonneau's avatar
Steve Tonneau committed
26
#include "hpp/rbprm/stability/stability.hh"
Steve Tonneau's avatar
Steve Tonneau committed
27
#include "hpp/rbprm/sampling/sample-db.hh"
Steve Tonneau's avatar
Steve Tonneau committed
28
#include "hpp/model/urdf/util.hh"
Steve Tonneau's avatar
Steve Tonneau committed
29
#include <fstream>
Steve Tonneau's avatar
Steve Tonneau committed
30

Steve Tonneau's avatar
Steve Tonneau committed
31
32


Steve Tonneau's avatar
Steve Tonneau committed
33
34
35
36
namespace hpp {
  namespace rbprm {
    namespace impl {

Steve Tonneau's avatar
Steve Tonneau committed
37
38
39
    RbprmBuilder::RbprmBuilder ()
    : POA_hpp::corbaserver::rbprm::RbprmBuilder()
    , romLoaded_(false)
Steve Tonneau's avatar
Steve Tonneau committed
40
    , fullBodyLoaded_(false)
Steve Tonneau's avatar
Steve Tonneau committed
41
    , bindShooter_()
Steve Tonneau's avatar
Steve Tonneau committed
42
    , analysisFactory_(0)
Steve Tonneau's avatar
Steve Tonneau committed
43
44
45
46
    {
        // NOTHING
    }

Steve Tonneau's avatar
Steve Tonneau committed
47
48
49
50
51
52
53
54
55
    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
56
57
58
            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
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
                    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
83
            hppDout (error, err );
Steve Tonneau's avatar
Steve Tonneau committed
84
85
86
87
            throw hpp::Error(err.c_str());
        }
        try
        {
Steve Tonneau's avatar
Steve Tonneau committed
88
            hpp::model::RbPrmDevicePtr_t device = hpp::model::RbPrmDevice::create (robotName, romDevices_);
Steve Tonneau's avatar
Steve Tonneau committed
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
            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
107
108
109
110
111
112
113
114
115
116
    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);
117
            hpp::model::urdf::loadRobotModel (device,
Steve Tonneau's avatar
Steve Tonneau committed
118
119
120
121
122
123
                    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
124
            problemSolver_->pathValidationType ("Discretized",0.05); // reset to avoid conflict with rbprm path
125
            problemSolver_->robot (fullBody_->device_);
Steve Tonneau's avatar
Steve Tonneau committed
126
            problemSolver_->resetProblem();
127
128
            problemSolver_->robot ()->controlComputation
            (model::Device::JOINT_POSITION);
Steve Tonneau's avatar
Steve Tonneau committed
129
130
131
132
133
134
        }
        catch (const std::exception& exc)
        {
            hppDout (error, exc.what ());
            throw hpp::Error (exc.what ());
        }
135
136
        fullBodyLoaded_ = true;
        analysisFactory_ = new sampling::AnalysisFactory(fullBody_);
Steve Tonneau's avatar
Steve Tonneau committed
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
    }

    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
159
        config.segment(sample.startRank_, sample.length_) = sample.configuration_;
Steve Tonneau's avatar
Steve Tonneau committed
160
161
162
163
164
165
166
        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
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194

    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
195
196
197
198
199
200
201
202
203
204

    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());
        }
205
        return (CORBA::UShort)(lit->second->sampleContainer_.samples_.size());
Steve Tonneau's avatar
Steve Tonneau committed
206
207
    }

208
209
210
211
212
213
214
215
216
217
218
    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();
219
        dofArray->length((_CORBA_ULong)ids.size());
220
221
222
        sampling::T_VoxelSampleId::const_iterator it = ids.begin();
        for(std::size_t i=0; i< _CORBA_ULong(ids.size()); ++i, ++it)
        {
223
          (*dofArray)[(_CORBA_ULong)i] = (double)it->first;
224
225
226
227
        }
        return dofArray;
    }

Steve Tonneau's avatar
Steve Tonneau committed
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
    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];
    }

Steve Tonneau's avatar
Steve Tonneau committed
252
253
254
255
256
257
258
259
260
261
262
263
    model::Configuration_t dofArrayToConfig (const model::DevicePtr_t& robot,
      const hpp::floatSeq& dofArray)
    {
        std::size_t configDim = (std::size_t)dofArray.length();
        // Get robot
        if (!robot) {
            throw hpp::Error ("No robot in problem solver.");
        }
        std::size_t deviceDim = robot->configSize ();
        // Fill dof vector with dof array.
        model::Configuration_t config; config.resize (configDim);
        for (std::size_t iDof = 0; iDof < configDim; iDof++) {
264
            config [iDof] = (double)dofArray[(_CORBA_ULong)iDof];
Steve Tonneau's avatar
Steve Tonneau committed
265
266
267
268
269
270
271
272
273
274
        }
        // fill the vector by zero
        hppDout (info, "config dimension: " <<configDim
           <<",  deviceDim "<<deviceDim);
        if(configDim != deviceDim){
            throw hpp::Error ("dofVector Does not match");
        }
        return config;
    }

Steve Tonneau's avatar
Steve Tonneau committed
275
276
277
278
279
    std::vector<model::Configuration_t> doubleDofArrayToConfig (const model::DevicePtr_t& robot,
      const hpp::floatSeqSeq& doubleDofArray)
    {
        std::size_t configsDim = (std::size_t)doubleDofArray.length();
        std::vector<model::Configuration_t> res;
280
        for (_CORBA_ULong iConfig = 0; iConfig < configsDim; iConfig++)
Steve Tonneau's avatar
Steve Tonneau committed
281
282
283
284
285
286
        {
            res.push_back(dofArrayToConfig(robot, doubleDofArray[iConfig]));
        }
        return res;
    }

Steve Tonneau's avatar
Steve Tonneau committed
287
288
289
290
    std::vector<std::string> stringConversion(const hpp::Names_t& dofArray)
    {
        std::vector<std::string> res;
        std::size_t dim = (std::size_t)dofArray.length();
291
        for (_CORBA_ULong iDof = 0; iDof < dim; iDof++)
Steve Tonneau's avatar
Steve Tonneau committed
292
293
294
295
296
        {
            res.push_back(std::string(dofArray[iDof]));
        }
        return res;
    }
Steve Tonneau's avatar
Steve Tonneau committed
297

Steve Tonneau's avatar
Steve Tonneau committed
298
299
300
301
    std::vector<double> doubleConversion(const hpp::floatSeq& dofArray)
    {
        std::vector<double> res;
        std::size_t dim = (std::size_t)dofArray.length();
302
        for (_CORBA_ULong iDof = 0; iDof < dim; iDof++)
Steve Tonneau's avatar
Steve Tonneau committed
303
304
305
306
307
308
        {
            res.push_back(dofArray[iDof]);
        }
        return res;
    }

Steve Tonneau's avatar
Steve Tonneau committed
309
310
311
312
313
314

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

315
316
317
318
319
320

    void RbprmBuilder::setNormalFilter(const char* romName, const hpp::floatSeq& normal, double range) throw (hpp::Error)
    {
        std::string name(romName);
        bindShooter_.normalFilter_.erase(name);
        fcl::Vec3f dir;
321
        for(_CORBA_ULong i =0; i <3; ++i)
322
323
324
325
326
327
328
        {
            dir[i] = normal[i];
        }
        NormalFilter filter(dir,range);
        bindShooter_.normalFilter_.insert(std::make_pair(name,filter));
    }

Steve Tonneau's avatar
Steve Tonneau committed
329
330
331
332
333
334
335
336
337
338
339
    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;

    }

Steve Tonneau's avatar
Steve Tonneau committed
340
341
342
343
344
345
    hpp::floatSeq* RbprmBuilder::generateContacts(const hpp::floatSeq& configuration, const hpp::floatSeq& direction) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
346
            fcl::Vec3f dir;
Steve Tonneau's avatar
Steve Tonneau committed
347
348
            for(std::size_t i =0; i <3; ++i)
            {
349
                dir[i] = direction[(_CORBA_ULong)i];
Steve Tonneau's avatar
Steve Tonneau committed
350
351
352
353
354
            }
            model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
            rbprm::State state = rbprm::ComputeContacts(fullBody_,config,
                                            problemSolver_->collisionObstacles(), dir);
            hpp::floatSeq* dofArray = new hpp::floatSeq();
Steve Tonneau's avatar
stair    
Steve Tonneau committed
355
            dofArray->length(_CORBA_ULong(state.configuration_.rows()));
Steve Tonneau's avatar
Steve Tonneau committed
356
357
358
359
360
361
362
363
            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 ());
        }
    }

364
365
366
367
368
369
370
371
    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
        {
372
            fcl::Vec3f dir;
373
374
            for(std::size_t i =0; i <3; ++i)
            {
375
                dir[i] = direction[(_CORBA_ULong)i];
376
377
            }
            model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
Steve Tonneau's avatar
Steve Tonneau committed
378
379
            model::Configuration_t save = fullBody_->device_->currentConfiguration();
            fullBody_->device_->currentConfiguration(config);
380
381
382
383
384
385

            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
386
                                          + std::string(limbname) + " to robot; limb not defined.");
387
388
            }
            const RbPrmLimbPtr_t& limb = lit->second;
Steve Tonneau's avatar
Steve Tonneau committed
389
            fcl::Transform3f transform = limb->limb_->robot()->rootJoint()->childJoint(0)->currentTransformation (); // get root transform from configuration
390
391
392
393
394
395
            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
396
                sampling::GetCandidates(limb->sampleContainer_, transform, *oit, dir, reports[i]);
397
398
399
400
401
402
403
            }
            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();
404
            dofArray->length((_CORBA_ULong)finalSet.size());
405
406
407
            sampling::T_OctreeReport::const_iterator candCit = finalSet.begin();
            for(std::size_t i=0; i< _CORBA_ULong(finalSet.size()); ++i, ++candCit)
            {
408
              (*dofArray)[(_CORBA_ULong)i] = (double)candCit->sample_->id_;
409
            }
Steve Tonneau's avatar
Steve Tonneau committed
410
            fullBody_->device_->currentConfiguration(save);
411
412
413
414
415
416
            return dofArray;
        } catch (const std::exception& exc) {
        throw hpp::Error (exc.what ());
        }
    }

417
418
419
420
421
422
423
    hpp::floatSeq* RbprmBuilder::getSamplesIdsInOctreeNode(const char* limb,
                                                           double octreeNodeId) throw (hpp::Error)
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
424
            long ocId ((long)octreeNodeId);
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
            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();
442
            dofArray->length((_CORBA_ULong)ids.second);
443
444
445
            std::size_t sampleId = ids.first;
            for(std::size_t i=0; i< _CORBA_ULong(ids.second); ++i, ++sampleId)
            {
446
              (*dofArray)[(_CORBA_ULong)i] = (double)sampleId;
447
448
449
450
451
452
453
            }
            return dofArray;
        } catch (const std::exception& exc) {
        throw hpp::Error (exc.what ());
        }
    }

454
    void RbprmBuilder::addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y,
455
                               unsigned short samples, const char* heuristicName, double resolution, const char *contactType, double disableEffectorCollision) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
456
457
458
459
460
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
Steve Tonneau's avatar
Steve Tonneau committed
461
            fcl::Vec3f off, norm;
462
463
            for(std::size_t i =0; i <3; ++i)
            {
464
465
                off[i] = offset[(_CORBA_ULong)i];
                norm[i] = normal[(_CORBA_ULong)i];
466
            }
467
468
469
470
471
            ContactType cType = hpp::rbprm::_6_DOF;
            if(std::string(contactType) == "_3_DOF")
            {
                cType = hpp::rbprm::_3_DOF;
            }
472
473
            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
474
475
476
477
478
479
480
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
481

482
    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
483
484
485
486
487
488
    {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
        try
        {
            std::string fileName(databasePath);
489
490
            fullBody_->AddLimb(fileName, std::string(id), problemSolver_->collisionObstacles(), heuristicName, loadValues > 0.5,
                               disableEffectorCollision > 0.5);
Steve Tonneau's avatar
Steve Tonneau committed
491
492
493
494
495
496
497
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
498
499
500
501
502
    void SetPositionAndNormal(rbprm::State& state, hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs)
    {
        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
503
        fullBody->device_->computeForwardKinematics();
Steve Tonneau's avatar
Steve Tonneau committed
504
505
506
507
508
509
510
        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
511
                                          + (*cit) + " to robot; limb not defined");
Steve Tonneau's avatar
Steve Tonneau committed
512
513
514
515
516
            }
            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
517
            state.contactRotation_[*cit] = rot;
Steve Tonneau's avatar
Steve Tonneau committed
518
519
            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
520
            state.contactOrder_.push(*cit);
Steve Tonneau's avatar
Steve Tonneau committed
521
522
        }        
        state.nbContacts = state.contactNormals_.size() ;
Steve Tonneau's avatar
Steve Tonneau committed
523
        state.configuration_ = config;
524
525
        state.robustness =  stability::IsStable(fullBody,state);
        state.stable = state.robustness >= 0;
Steve Tonneau's avatar
Steve Tonneau committed
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
        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());
        }
    }

553
554
555
556
557
558
559
560
561
562
    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;
    }

563
    floatSeqSeq* RbprmBuilder::interpolateConfigs(const hpp::floatSeqSeq& configs, double robustnessTreshold) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
564
565
566
567
568
569
570
571
572
573
574
    {
        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 ");
            }
Steve Tonneau's avatar
rebase    
Steve Tonneau committed
575
            hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator = rbprm::interpolation::RbPrmInterpolation::create(fullBody_,startState_,endState_);
Steve Tonneau's avatar
Steve Tonneau committed
576
            std::vector<model::Configuration_t> configurations = doubleDofArrayToConfig(fullBody_->device_, configs);
577
578
            lastStatesComputedTime_ = interpolator->Interpolate(problemSolver_->collisionObstacles(),configurations,robustnessTreshold);
            lastStatesComputed_ = TimeStatesToStates(lastStatesComputedTime_);
Steve Tonneau's avatar
Steve Tonneau committed
579
580
581
            hpp::floatSeqSeq *res;
            res = new hpp::floatSeqSeq ();

582
            res->length ((_CORBA_ULong)lastStatesComputed_.size ());
Steve Tonneau's avatar
Steve Tonneau committed
583
584
585
586
587
588
589
590
591
592
593
594
595
596
            std::size_t i=0;
            std::size_t id = 0;
            for(std::vector<State>::const_iterator cit = lastStatesComputed_.begin(); cit != lastStatesComputed_.end(); ++cit, ++id)
            {
                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];
                }
597
                (*res) [(_CORBA_ULong)i] = floats;
Steve Tonneau's avatar
Steve Tonneau committed
598
599
600
601
602
603
604
605
606
                ++i;
            }
            return res;
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }
Steve Tonneau's avatar
Steve Tonneau committed
607

608
    floatSeqSeq* RbprmBuilder::interpolate(double timestep, double path, double robustnessTreshold) throw (hpp::Error)
Steve Tonneau's avatar
Steve Tonneau committed
609
610
611
    {
        try
        {
612
        unsigned int pathId = int(path);
Steve Tonneau's avatar
Steve Tonneau committed
613
614
615
616
617
618
619
620
621
        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 ");
        }

622
        if(problemSolver_->paths().size() <= pathId)
Steve Tonneau's avatar
Steve Tonneau committed
623
624
625
626
        {
            throw std::runtime_error ("No path computed, cannot interpolate ");
        }

627
        hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator = hpp::rbprm::interpolation::RbPrmInterpolation::create(fullBody_,startState_,endState_,problemSolver_->paths()[pathId]);
628
629
        lastStatesComputedTime_ = interpolator->Interpolate(problemSolver_->collisionObstacles(),timestep,robustnessTreshold);
        lastStatesComputed_ = TimeStatesToStates(lastStatesComputedTime_);
Steve Tonneau's avatar
Steve Tonneau committed
630
631
632
        hpp::floatSeqSeq *res;
        res = new hpp::floatSeqSeq ();

633
        res->length ((_CORBA_ULong)lastStatesComputed_.size ());
Steve Tonneau's avatar
Steve Tonneau committed
634
        std::size_t i=0;
Steve Tonneau's avatar
Steve Tonneau committed
635
        std::size_t id = 0;
Steve Tonneau's avatar
Steve Tonneau committed
636
        for(std::vector<State>::const_iterator cit = lastStatesComputed_.begin(); cit != lastStatesComputed_.end(); ++cit, ++id)
Steve Tonneau's avatar
Steve Tonneau committed
637
        {
Steve Tonneau's avatar
Steve Tonneau committed
638
639
            std::cout << "ID " << id;
            cit->print();
Steve Tonneau's avatar
Steve Tonneau committed
640
641
642
643
644
645
646
647
            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];
            }
648
            (*res) [(_CORBA_ULong)i] = floats;
Steve Tonneau's avatar
Steve Tonneau committed
649
650
651
652
653
654
655
656
657
658
            ++i;
        }
        return res;
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

659
660
661
662
663
664
665
    void AddPath(core::PathPtr_t path, core::ProblemSolverPtr_t ps)
    {
        core::PathVectorPtr_t resPath = core::PathVector::create(path->outputSize(), path->outputDerivativeSize());
        resPath->appendPath(path);
        ps->addPath(resPath);
    }

666
    void RbprmBuilder::interpolateBetweenStates(double state1, double state2, unsigned short numOptimizations) throw (hpp::Error)
667
668
669
    {
        try
        {
Steve Tonneau's avatar
rebase    
Steve Tonneau committed
670
            std::size_t s1((std::size_t)state1), s2((std::size_t)state2);
671
672
673
674
675
            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));
            }
            //create helper
Steve Tonneau's avatar
Steve Tonneau committed
676
//            /interpolation::LimbRRTHelper helper(fullBody_, problemSolver_->problem());
677
            core::PathPtr_t path = interpolation::interpolateStates<rbprm::interpolation::LimbRRTPath>(fullBody_,problemSolver_->problem(),
678
                                                                          lastStatesComputed_.begin()+s1,lastStatesComputed_.begin()+s2, numOptimizations);
679
            AddPath(path,problemSolver_);
680
681
682
683
684
685
686
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

687
688
689
690
691
692
693
694
695
696
697
698
699
700
    void RbprmBuilder::interpolateBetweenStatesFromPath(double state1, double state2, unsigned short path, unsigned short numOptimizations) 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));
            }
            unsigned int pathId = (unsigned int)(path);
            if(problemSolver_->paths().size() <= pathId)
            {
                throw std::runtime_error ("No path computed, cannot interpolate ");
            }
701
            core::PathPtr_t path = interpolation::interpolateStates<rbprm::interpolation::LimbRRTPath>(fullBody_,problemSolver_->problem(), problemSolver_->paths()[pathId],
702
                                                                          lastStatesComputedTime_.begin()+s1,lastStatesComputedTime_.begin()+s2, numOptimizations);
703
            AddPath(path,problemSolver_);
704
705
706
707
708
709
710
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
711
712
713
    void RbprmBuilder::saveComputedStates(const char* outfilename) throw (hpp::Error)
    {
        std::stringstream ss;
714
715
        ss << lastStatesComputed_.size()-2 << "\n";
        std::vector<rbprm::State>::iterator cit = lastStatesComputed_.begin()+1;
716
717
718
        int i = 0;
        ss << i++ << " ";
        cit->print(ss);
719
720
        for(std::vector<rbprm::State>::iterator cit2 = lastStatesComputed_.begin()+2;
            cit2 != lastStatesComputed_.end()-1; ++cit2, ++cit, ++i)
Steve Tonneau's avatar
Steve Tonneau committed
721
        {
722
            cit2->robustness = stability::IsStable(this->fullBody_, *cit2);
723
724
            ss << i<< " ";
            cit2->print(ss,*cit);
Steve Tonneau's avatar
Steve Tonneau committed
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
        }
        std::ofstream outfile;
        outfile.open(outfilename);
        if (outfile.is_open())
        {
            outfile << ss.rdbuf();
            outfile.close();
        }
        else
        {
            std::string error("Can not open outfile " + std::string(outfilename));
            throw Error(error.c_str());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
    void RbprmBuilder::saveLimbDatabase(const char* limbname,const char* filepath) throw (hpp::Error)
    {
        try
        {
        std::string limbName(limbname);
        std::ofstream fout;
        fout.open(filepath, std::fstream::out | std::fstream::app);
        rbprm::saveLimbInfoAndDatabase(fullBody_->GetLimbs().at(limbName),fout);
        //sampling::saveLimbDatabase(fullBody_->GetLimbs().at(limbName)->sampleContainer_,fout);
        fout.close();
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

757
    hpp::floatSeqSeq* RbprmBuilder::getOctreeBoxes(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error)
758
759
760
761
762
763
764
765
766
767
768
769
770
    {
        try
        {
        model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
        model::Configuration_t save = fullBody_->device_->currentConfiguration();
        fullBody_->device_->currentConfiguration(config);
        fullBody_->device_->computeForwardKinematics();
        const std::map<std::size_t, fcl::CollisionObject*>& boxes =
                fullBody_->GetLimbs().at(std::string(limbName))->sampleContainer_.boxes_;
        const double resolution = fullBody_->GetLimbs().at(std::string(limbName))->sampleContainer_.resolution_;
        std::size_t i =0;
        hpp::floatSeqSeq *res;
        res = new hpp::floatSeqSeq ();
771
        res->length ((_CORBA_ULong)boxes.size ());
772
773
774
        for(std::map<std::size_t, fcl::CollisionObject*>::const_iterator cit = boxes.begin();
            cit != boxes.end();++cit,++i)
        {
775
            fcl::Vec3f position = (*cit->second).getTranslation();
776
777
778
779
780
781
782
783
            _CORBA_ULong size = (_CORBA_ULong) 4;
            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 < 3 ; ++j) {
                dofArray[j] = position[j];
            }
            dofArray[3] = resolution;
784
            (*res) [(_CORBA_ULong)i] = floats;
785
786
787
788
789
790
791
792
793
794
795
        }
        fullBody_->device_->currentConfiguration(save);
        fullBody_->device_->computeForwardKinematics();
        return res;
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

796
797
798
799
800
801
    hpp::floatSeq* RbprmBuilder::getOctreeBox(const char* limbName, double octreeNodeId) throw (hpp::Error)
    {
        try
        {
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
802
        long ocId ((long)octreeNodeId);
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
        const T_Limb& limbs = fullBody_->GetLimbs();
        T_Limb::const_iterator lit = limbs.find(std::string(limbName));
        if(lit == limbs.end())
        {
            std::string err("No limb " + std::string(limbName) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
        const std::map<std::size_t, fcl::CollisionObject*>& boxes =
                fullBody_->GetLimbs().at(std::string(limbName))->sampleContainer_.boxes_;
        std::map<std::size_t, fcl::CollisionObject*>::const_iterator cit = boxes.find(ocId);
        if(cit == boxes.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 fcl::CollisionObject* box = cit->second;
        const fcl::Vec3f& pos = box->getTransform().getTranslation();
        hpp::floatSeq* dofArray = new hpp::floatSeq();
        dofArray->length(4);
        for(std::size_t i=0; i< 3; ++i)
        {
          (*dofArray)[(_CORBA_ULong)i] = pos[i];
        }
        (*dofArray)[(_CORBA_ULong)3] = fullBody_->GetLimbs().at(std::string(limbName))->sampleContainer_.resolution_;
        return dofArray;
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
    hpp::floatSeq* RbprmBuilder::getOctreeTransform(const char* limbName, const hpp::floatSeq& configuration) throw (hpp::Error)
    {
        try{
        model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
        model::Configuration_t save = fullBody_->device_->currentConfiguration();
        fullBody_->device_->currentConfiguration(config);
        fullBody_->device_->computeForwardKinematics();
        const hpp::rbprm::RbPrmLimbPtr_t limb =fullBody_->GetLimbs().at(std::string(limbName));
        const fcl::Transform3f transform = limb->octreeRoot();
        const fcl::Quaternion3f& quat = transform.getQuatRotation();
        const fcl::Vec3f& position = transform.getTranslation();
        hpp::floatSeq *dofArray;
        dofArray = new hpp::floatSeq();
        dofArray->length(_CORBA_ULong(7));
        for(std::size_t i=0; i< 3; i++)
          (*dofArray)[(_CORBA_ULong)i] = position [i];
        for(std::size_t i=0; i< 4; i++)
          (*dofArray)[(_CORBA_ULong)i+3] = quat [i];
        fullBody_->device_->currentConfiguration(save);
        fullBody_->device_->computeForwardKinematics();
        return dofArray;
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
    CORBA::Short RbprmBuilder::isConfigBalanced(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs, double robustnessTreshold) throw (hpp::Error)
    {
        try{
        rbprm::State testedState;
        model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
        model::Configuration_t save = fullBody_->device_->currentConfiguration();
        std::vector<std::string> names = stringConversion(contactLimbs);
        for(std::vector<std::string>::const_iterator cit = names.begin(); cit != names.end();++cit)
        {
            std::cout << "name " << * cit << std::endl;
            const hpp::rbprm::RbPrmLimbPtr_t limb =fullBody_->GetLimbs().at(std::string(*cit));
            testedState.contacts_[*cit] = true;
            testedState.contactPositions_[*cit] = limb->effector_->currentTransformation().getTranslation();
            testedState.contactRotation_[*cit] = limb->effector_->currentTransformation().getRotation();
            // normal given by effector normal
            const fcl::Vec3f normal = limb->effector_->currentTransformation().getRotation() * limb->normal_;
            testedState.contactNormals_[*cit] = normal;
            testedState.configuration_ = config;
            ++testedState.nbContacts;
        }
        fullBody_->device_->currentConfiguration(save);
        fullBody_->device_->computeForwardKinematics();
        if (stability::IsStable(fullBody_, testedState) >= robustnessTreshold)
        {
            return (CORBA::Short)(1);
        }
        else
        {
            return (CORBA::Short)(0);
        }
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

901
902
903
904
905

    void RbprmBuilder::runSampleAnalysis(const char* analysis, double isstatic) throw (hpp::Error)
    {
        try
        {
Steve Tonneau's avatar
Steve Tonneau committed
906
907
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
908
        std::string eval(analysis);
Steve Tonneau's avatar
Steve Tonneau committed
909
        if (eval == "all")
910
        {
Steve Tonneau's avatar
Steve Tonneau committed
911
912
913
914
915
916
917
918
919
            for(sampling::T_evaluate::const_iterator analysisit = analysisFactory_->evaluate_.begin();
                analysisit != analysisFactory_->evaluate_.end(); ++ analysisit)
            {
                for(T_Limb::const_iterator cit = fullBody_->GetLimbs().begin(); cit !=fullBody_->GetLimbs().end();++cit)
                {
                    sampling::SampleDB & sampleDB =const_cast<sampling::SampleDB &> (cit->second->sampleContainer_);
                    sampling::addValue(sampleDB, analysisit->first, analysisit->second, isstatic > 0.5, isstatic > 0.5);
                }
            }
920
        }
Steve Tonneau's avatar
Steve Tonneau committed
921
        else
922
        {
Steve Tonneau's avatar
Steve Tonneau committed
923
924
925
926
927
928
929
930
931
932
933
            sampling::T_evaluate::const_iterator analysisit = analysisFactory_->evaluate_.find(std::string(eval));
            if(analysisit == analysisFactory_->evaluate_.end())
            {
                std::string err("No analysis named  " + eval + "was defined for analyzing database sample");
                throw Error (err.c_str());
            }
            for(T_Limb::const_iterator cit = fullBody_->GetLimbs().begin(); cit !=fullBody_->GetLimbs().end();++cit)
            {
                sampling::SampleDB & sampleDB =const_cast<sampling::SampleDB &> (cit->second->sampleContainer_);
                sampling::addValue(sampleDB, analysisit->first, analysisit->second, isstatic > 0.5, isstatic > 0.5);
            }
934
935
936
937
938
939
940
941
        }
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

942
    hpp::floatSeq* RbprmBuilder::runLimbSampleAnalysis(const char* limbname, const char* analysis, double isstatic) throw (hpp::Error)
943
944
945
    {
        try
        {
946
        rbprm::sampling::ValueBound bounds;
Steve Tonneau's avatar
Steve Tonneau committed
947
948
        if(!fullBodyLoaded_)
            throw Error ("No full body robot was loaded");
949
950
951
952
953
954
        T_Limb::const_iterator lit = fullBody_->GetLimbs().find(std::string(limbname));
        if(lit == fullBody_->GetLimbs().end())
        {
            std::string err("No limb " + std::string(limbname) + "was defined for robot" + fullBody_->device_->name());
            throw Error (err.c_str());
        }
Steve Tonneau's avatar
Steve Tonneau committed
955
956
957
958
959
960
961
962
        std::string eval(analysis);
        if (eval == "all")
        {
            for(sampling::T_evaluate::const_iterator analysisit = analysisFactory_->evaluate_.begin();
                analysisit != analysisFactory_->evaluate_.end(); ++ analysisit)
            {
                sampling::SampleDB & sampleDB =const_cast<sampling::SampleDB &> (lit->second->sampleContainer_);
                sampling::addValue(sampleDB, analysisit->first, analysisit->second, isstatic > 0.5, isstatic > 0.5);
963
                bounds = sampleDB.valueBounds_[analysisit->first];
Steve Tonneau's avatar
Steve Tonneau committed
964
965
966
967
968
969
970
971
972
973
974
975
            }
        }
        else
        {
            sampling::T_evaluate::const_iterator analysisit = analysisFactory_->evaluate_.find(std::string(eval));
            if(analysisit == analysisFactory_->evaluate_.end())
            {
                std::string err("No analysis named  " + eval + "was defined for analyzing database sample");
                throw Error (err.c_str());
            }
            sampling::SampleDB & sampleDB =const_cast<sampling::SampleDB &> (lit->second->sampleContainer_);
            sampling::addValue(sampleDB, analysisit->first, analysisit->second, isstatic > 0.5, isstatic > 0.5);
976
977
978
979
980
981
982
            bounds = sampleDB.valueBounds_[analysisit->first];
        }
        hpp::floatSeq* dofArray = new hpp::floatSeq();
        dofArray->length(2);
        (*dofArray)[0] = bounds.first;
        (*dofArray)[1] = bounds.second;
        return dofArray;
983
984
985
986
987
988
989
        }
        catch(std::runtime_error& e)
        {
            throw Error(e.what());
        }
    }

Steve Tonneau's avatar
Steve Tonneau committed
990
991
992
993
994
995
996
    void RbprmBuilder::SetProblemSolver (hpp::core::ProblemSolverPtr_t problemSolver)
    {
        problemSolver_ = problemSolver;
        bindShooter_.problemSolver_ = problemSolver;
        //bind shooter creator to hide problem as a parameter and respect signature

        // add rbprmshooter
997
        problemSolver->add<core::ConfigurationShooterBuilder_t>("RbprmShooter",
Steve Tonneau's avatar
Steve Tonneau committed
998
                                                   boost::bind(&BindShooter::create, boost::ref(bindShooter_), _1));
999
        problemSolver->add<core::PathValidationBuilder_t>("RbprmPathValidation",
1000
                                                   boost::bind(&BindShooter::createPathValidation, boost::ref(bindShooter_), _1, _2));