/usr/include/kido/dynamics/Linkage.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_DYNAMICS_LINKAGE_HPP_
#define KIDO_DYNAMICS_LINKAGE_HPP_
#include "ReferentialSkeleton.hpp"
#include <unordered_set>
namespace kido {
namespace dynamics {
/// A Linkage is a ReferentialSkeleton with the special property that all the
/// BodyNodes included in it form a contiguous graph. This property is only
/// guaranteed during construction of the Linkage. After the Linkage has been
/// constructed, a user might alter how the BodyNodes in a Linkage are
/// assembled. The function Linkage::isAssembled() can be used to check whether
/// the Linkage is still assembled. The function Linkage::satisfyCriteria() can
/// be used to redefine the Linkage so that the original Linkage::Criteria is
/// met again. The function Linkage::reassemble() will reassemble the BodyNodes
/// so that they match whatever assembly they had the last time
/// Linkage::reassemble() was called (or the assembly that they had when the
/// Linkage was constructed, if Linkage::reassemble has never been called).
class Linkage : public ReferentialSkeleton
{
public:
/// The Criteria class is used to specify how a Linkage should be constructed
struct Criteria
{
/// The ExpansionPolicy indicates how the collection of BodyNodes should
/// expand from the starting BodyNode (mStart)
enum ExpansionPolicy {
INCLUDE = 0, ///< Do not expand from the target. Include everything up to the target and then stop.
EXCLUDE, ///< Do not expand from the target. Include everything up to the target, but NOT the target, and then stop.
DOWNSTREAM, ///< Include the target, and then expand downstream, toward the leaves of the tree.
UPSTREAM ///< Include the target, and then expand upstream, toward the root of the tree.
};
/// Return a vector of BodyNodes that satisfy the parameters of the Criteria
std::vector<BodyNode*> satisfy() const;
/// This structure defines targets for the expansion criteria and the
/// desired behavior for those targets
struct Target
{
/// Default constructor for Target
Target(BodyNode* _target = nullptr,
ExpansionPolicy _policy = INCLUDE,
bool _chain = false);
/// The Linkage will expand from the starting BodyNode up to this node
WeakBodyNodePtr mNode;
/// After the target has been reached (if it is reached), the Linkage will
/// start to follow this expansion policy.
ExpansionPolicy mPolicy;
/// If this is set to true, the expansion towards this target will
/// terminate if (1) a fork/split in the kinematics is reached or (2) a
/// FreeJoint is reached.
bool mChain;
};
/// This Target will serve as the starting point for the criteria
/// satisfaction
Target mStart;
/// The Linkage will extend from mStart to each of these targets. Each
/// BodyNode along the way will be included in the Linkage, including the
/// mTarget. However, if a terminal BodyNode is reached along the way, then
/// nothing past the terminal BodyNode will be included. Therefore, If you
/// want to expand towards a target but not include the target, you can set
/// the BodyNode as both an mTarget and an mTerminal, and set the mInclusive
/// flag in mTerminal to false.
std::vector<Target> mTargets;
/// Any expansion performed by the criteria will be halted if mTerminal is
/// reached. If mInclusive is set to true, then mTerminal will be included
/// in the Linkage. If mInclusive is set to false, then mTerminal will not
/// be included in the Linkage. Note that the BodyNode of mStart may be
/// included as an inclusive terminal, but NOT as an exclusive terminal.
struct Terminal
{
/// Default constructor for Terminal
Terminal(BodyNode* _terminal = nullptr, bool _inclusive = true);
/// BodyNode that should halt any expansion
WeakBodyNodePtr mTerminal;
/// Whether or not the BodyNode should be included after expansion has
/// halted
bool mInclusive;
};
/// Any expansion (whether from an ExpansionPolicy or an attempt to reach an
/// entry in mTargets) will be halted if it reaches any entry in mTerminal
std::vector<Terminal> mTerminals;
protected:
/// Refresh the content of mMapOfTerminals
void refreshTerminalMap() const;
/// Satisfy the expansion policy of a target
void expansionPolicy(BodyNode* _start, ExpansionPolicy _policy,
std::vector<BodyNode*>& _bns) const;
/// Expand downstream
void expandDownstream(BodyNode* _start, std::vector<BodyNode*>& _bns,
bool _includeStart) const;
/// Expand upstream
void expandUpstream(BodyNode* _start, std::vector<BodyNode*>& _bns,
bool _includeStart) const;
/// Construct a path from start to target
void expandToTarget(const Target& _start, const Target& _target,
std::vector<BodyNode*>& _bns) const;
/// Expand upwards from the _start BodyNode to the _target BodyNode
std::vector<BodyNode*> climbToTarget(BodyNode* _start, BodyNode* _target) const;
/// Expand upwards from both BodyNodes to a common root
std::vector<BodyNode*> climbToCommonRoot(
const Target& _start, const Target& _target, bool _chain) const;
/// Crawl through the list and cut it off anywhere that the criteria is
/// violated
void trimBodyNodes(std::vector<BodyNode*>& _bns, bool _chain,
bool _movingUpstream) const;
/// Hashed set for terminals to allow quick lookup
mutable std::unordered_map<BodyNode*, bool> mMapOfTerminals;
};
/// Create a Linkage with the given Criteria
static LinkagePtr create(const Criteria& _criteria,
const std::string& _name = "Linkage");
/// Returns false if the original assembly of this Linkage has been broken in
/// some way
bool isAssembled() const;
/// Revert the assembly of this Linkage to its original structure
void reassemble();
/// Redefine this Linkage so that its Criteria is satisfied
void satisfyCriteria();
protected:
/// Constructor for the Linkage class. satisfyCriteria() will be called during
/// construction.
Linkage(const Criteria& _criteria, const std::string& _name = "Linkage");
/// Update any metadata needed by the Linkage or its derived classes
virtual void update();
/// Criteria that defines the structure of this Linkage
Criteria mCriteria;
/// Recording of the parent BodyNodes that were held by each of the BodyNodes
/// when the Linkage was constructed
std::vector<WeakBodyNodePtr> mParentBodyNodes;
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_LINKAGE_HPP_
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