moveit_task_constructor/src/container.cpp
2017-10-20 16:40:11 +02:00

353 lines
11 KiB
C++

#include "container_p.h"
#include <ros/console.h>
#include <memory>
#include <iostream>
#include <algorithm>
#include <boost/range/adaptor/reversed.hpp>
namespace moveit { namespace task_constructor {
ContainerBasePrivate::const_iterator ContainerBasePrivate::position(int index) const {
const_iterator position = children_.begin();
if (index > 0) {
for (auto end = children_.end(); index > 0 && position != end; --index)
++position;
} else if (++index <= 0) {
container_type::const_reverse_iterator from_end = children_.rbegin();
for (auto end = children_.rend(); index < 0 && from_end != end; ++index)
++from_end;
position = from_end.base();
}
return position;
}
bool ContainerBasePrivate::traverseStages(const ContainerBase::StageCallback &processor,
unsigned int cur_depth, unsigned int max_depth) const {
if (cur_depth >= max_depth)
return true;
for (auto &stage : children_) {
if (!processor(*stage, cur_depth))
continue;
ContainerBasePrivate *container = dynamic_cast<ContainerBasePrivate*>(stage->pimpl());
if (container)
container->traverseStages(processor, cur_depth+1, max_depth);
}
return true;
}
bool ContainerBasePrivate::canCompute() const
{
// call the method of the public interface
return static_cast<ContainerBase*>(me_)->canCompute();
}
bool ContainerBasePrivate::compute()
{
// call the method of the public interface
return static_cast<ContainerBase*>(me_)->compute();
}
ContainerBase::ContainerBase(ContainerBasePrivate *impl)
: Stage(impl)
{
}
PIMPL_FUNCTIONS(ContainerBase)
size_t ContainerBase::numChildren() const
{
return pimpl()->children().size();
}
bool ContainerBase::traverseChildren(const ContainerBase::StageCallback &processor) const
{
return pimpl()->traverseStages(processor, 0, 1);
}
bool ContainerBase::traverseRecursively(const ContainerBase::StageCallback &processor) const
{
if (!processor(*this, 0))
return false;
return pimpl()->traverseStages(processor, 1, UINT_MAX);
}
bool ContainerBase::insert(Stage::pointer &&stage, int before)
{
StagePrivate *impl = stage->pimpl();
if (impl->parent() != nullptr || numSolutions() != 0) {
ROS_ERROR("cannot re-parent stage");
return false;
}
ContainerBasePrivate::const_iterator where = pimpl()->position(before);
ContainerBasePrivate::iterator it = pimpl()->children_.insert(where, std::move(stage));
impl->setHierarchy(pimpl(), it);
return true;
}
void ContainerBase::clear()
{
pimpl()->children_.clear();
}
SerialContainerPrivate::SerialContainerPrivate(SerialContainer *me, const std::string &name)
: ContainerBasePrivate(me, name)
{
// these lists don't need a notify function, connections are handled by onNewSolution()
pending_backward_.reset(new Interface(Interface::NotifyFunction()));
pending_forward_.reset(new Interface(Interface::NotifyFunction()));
}
InterfaceFlags SerialContainerPrivate::announcedFlags() const {
InterfaceFlags f;
if (children().empty()) return f;
f |= children().front()->pimpl()->announcedFlags() & INPUT_IF_MASK;
f |= children().back()->pimpl()->announcedFlags() & OUTPUT_IF_MASK;
return f;
}
inline ContainerBasePrivate::const_iterator SerialContainerPrivate::prev(const_iterator it) const
{
assert(it != children().cbegin());
return --it;
}
inline ContainerBasePrivate::const_iterator SerialContainerPrivate::next(const_iterator it) const
{
assert(it != children().cend());
return ++it;
}
struct SolutionCollector {
SolutionCollector(const Stage::pointer& stage) : stopping_stage(stage->pimpl()) {}
bool operator()(const SolutionBase& current, const std::vector<const SolutionBase*>& trace, double cost) {
if (current.creator() != stopping_stage)
return true; // not yet traversed to stopping_stage
solutions.emplace_back(std::make_pair(trace, cost));
return false; // we are done
}
std::list<std::pair<std::vector<const SolutionBase*>, double>> solutions;
const StagePrivate* const stopping_stage;
};
void SerialContainerPrivate::onNewSolution(SolutionBase &current)
{
const StagePrivate *creator = current.creator();
// s.creator() should be one of our children
assert(std::find_if(children().begin(), children().end(),
[creator](const Stage::pointer& stage) { return stage->pimpl() == creator; } )
!= children().end());
SerialContainer *me = static_cast<SerialContainer*>(me_);
// TODO: can we get rid of this and use a temporary when calling traverse()?
std::vector<const SolutionBase*> trace; trace.reserve(children().size());
// find all incoming trajectories connected to s
SolutionCollector incoming(children().front());
me->traverse<BACKWARD>(current, std::ref(incoming), trace);
if (incoming.solutions.empty())
return; // no connection to front()
// find all outgoing trajectories connected to s
SolutionCollector outgoing(children().back());
me->traverse<FORWARD>(current, std::ref(outgoing), trace);
if (outgoing.solutions.empty())
return; // no connection to back()
std::cerr << "new solution for: " << name() << std::endl;
// add solutions for all combinations of incoming + s + outgoing
std::vector<const SolutionBase*> solution;
solution.reserve(children().size());
for (auto& in : incoming.solutions) {
for (auto& out : outgoing.solutions) {
assert(solution.empty());
// insert incoming solutions in reverse order
solution.insert(solution.end(), in.first.rbegin(), in.first.rend());
// insert current solution
solution.push_back(&current);
// insert outgoing solutions in normal order
solution.insert(solution.end(), out.first.begin(), out.first.end());
// TODO: store/announce solutions sorted by cost
storeNewSolution(std::move(solution), in.second + current.cost() + out.second);
}
}
}
void SerialContainerPrivate::storeNewSolution(std::vector<const SolutionBase*> &&s, double cost)
{
assert(!s.empty());
const InterfaceState *internal_from = s.front()->start();
const InterfaceState *internal_to = s.back()->end();
// create new solution directly in solutions_ and get a reference to it
solutions_.emplace_back(SerialSolution(this, std::move(s), cost));
SerialSolution& solution = solutions_.back();
// add solution to existing or new start state
auto it = internal_to_my_starts_.find(internal_from);
if (it != internal_to_my_starts_.end()) {
// connect solution to existing start state
solution.setStartState(*it->second);
} else {
// spawn a new state in previous stage
prevEnds()->add(InterfaceState(*internal_from), NULL, &solution);
}
// add solution to existing or new end state
it = internal_to_my_ends_.find(internal_to);
if (it != internal_to_my_ends_.end()) {
// connect solution to existing start state
solution.setEndState(*it->second);
} else {
// spawn a new state in next stage
nextStarts()->add(InterfaceState(*internal_to), &solution, NULL);
}
// inform parent about new solution
if (parent())
parent()->onNewSolution(solutions_.back());
}
SerialContainer::SerialContainer(SerialContainerPrivate *impl)
: ContainerBase(impl)
{}
SerialContainer::SerialContainer(const std::string &name)
: SerialContainer(new SerialContainerPrivate(this, name))
{}
PIMPL_FUNCTIONS(SerialContainer)
void SerialContainerPrivate::connect(StagePrivate* prev, StagePrivate* next) {
prev->setNextStarts(next->starts());
next->setPrevEnds(prev->ends());
}
bool SerialContainer::init(const planning_scene::PlanningSceneConstPtr &scene)
{
auto impl = pimpl();
// clear queues
impl->internal_to_my_starts_.clear();
impl->internal_to_my_ends_.clear();
impl->solutions_.clear();
// recursively init all children
for (auto& stage : impl->children()) {
if (!stage->Stage::init(scene) || !stage->init(scene))
return false;
}
// we need to have some children to do the actual work
if (impl->children().empty())
return false;
// initialize starts_ and ends_ interfaces
auto cur = impl->children().begin();
StagePrivate* child_impl = **cur;
if (child_impl->starts())
impl->starts_.reset(new Interface([impl, child_impl](const Interface::iterator& internal){
// new state in our starts_ interface is copied to first child, remembering the link
auto it = child_impl->starts()->clone(*internal);
impl->internal_to_my_starts_.insert(std::make_pair(&*it, &*internal));
}));
auto last = --impl->children().end();
if ((*cur)->pimpl()->ends())
impl->ends_.reset(new Interface([impl, child_impl](const Interface::iterator& internal){
// new state in our ends_ interface is copied to last child, remembering the link
auto it = child_impl->ends()->clone(*internal);
impl->internal_to_my_ends_.insert(std::make_pair(&*it, &*internal));
}));
/*** connect children ***/
// first stage sends backward to pending_backward_
(*cur)->pimpl()->setPrevEnds(impl->pending_backward_.get());
// last stage sends forward to pending_forward_
(*last)->pimpl()->setNextStarts(impl->pending_forward_.get());
auto prev = cur; ++cur; // prev points to 1st, cur points to 2nd stage
if (prev != last) {// we have more than one children
auto next = cur; ++next; // next points to 3rd stage (or end)
for (; cur != last; ++prev, ++cur, ++next) {
impl->connect(**prev, **cur);
impl->connect(**cur, **next);
}
// finally connect last == cur and prev stage
impl->connect(**prev, **cur);
}
// validate connectivity of chain
for (const Stage::pointer& stage : impl->children())
if (!stage->pimpl()->validate())
return false;
return true;
}
bool SerialContainer::canCompute() const
{
return !pimpl()->children().empty();
}
bool SerialContainer::compute()
{
bool computed = false;
for(const auto& stage : pimpl()->children()) {
if(!stage->pimpl()->canCompute())
continue;
std::cout << "Computing stage '" << stage->name() << "':" << std::endl;
bool success = stage->pimpl()->compute();
computed = true;
std::cout << (success ? "succeeded" : "failed") << std::endl;
}
return computed;
}
size_t SerialContainer::numSolutions() const
{
return pimpl()->solutions_.size();
}
template <TraverseDirection dir>
bool SerialContainer::traverse(const SolutionBase &start, const SolutionCallback &cb,
std::vector<const SolutionBase *> &trace, double trace_cost)
{
if (!cb(start, trace, trace_cost))
// stopping criterium met: stop traversal along dir
return true; // but continue traversal of further trajectories
bool result = false; // if no trajectory traversed, return false
for (SolutionBase* successor : trajectories<dir>(start)) {
trace.push_back(successor);
trace_cost += successor->cost();
result = traverse<dir>(*successor, cb, trace, trace_cost);
trace_cost -= successor->cost();
trace.pop_back();
if (!result) break;
}
return result;
}
void SerialSolution::appendTo(std::vector<const SubTrajectory *> &solution) const
{
solution.reserve(solution.size() + subsolutions_.size());
for (const SolutionBase* s : subsolutions_)
s->creator()->append(*s, solution);
}
} }