From 4b8ccb39675d60bc6df0c403eaf13e2d275e9647 Mon Sep 17 00:00:00 2001
From: Le Quang Anh <43576719+Toefinder@users.noreply.github.com>
Date: Wed, 25 May 2022 17:10:00 +0200
Subject: [PATCH] [SPF] Add warning for valid goal constraints
The StatesPathFinder algorithm is not yet able to handle all kinds of
goal constraints. An example is when the object final configuration is
locked in placement: the algorithm is not propagating the placement
complement to previous waypoints. A note is added for users and future
developers.
---
.../hpp/manipulation/path-planner/states-path-finder.hh | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/path-planner/states-path-finder.hh b/include/hpp/manipulation/path-planner/states-path-finder.hh
index 819be64a..3845a56c 100644
--- a/include/hpp/manipulation/path-planner/states-path-finder.hh
+++ b/include/hpp/manipulation/path-planner/states-path-finder.hh
@@ -254,7 +254,13 @@ namespace hpp {
mutable std::shared_ptr <GraphSearchData> graphData_;
graph::Edges_t lastBuiltTransitions_;
- // Constraints defining the goal
+ /// Constraints defining the goal
+ /// For now:
+ /// - comparison type Equality is initialized to zero
+ /// - if goal constraint is not already present in any graph state,
+ /// it should not require propagating a complement.
+ /// invalid eg: specify the full pose of an object placement or
+ /// object grasp
NumericalConstraints_t goalConstraints_;
bool goalDefinedByConstraints_;
// Variables used across several calls to oneStep
--
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