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manipulation: add TransitionPlanner::planPathSingle to work around eigenpy (1,N) Ref<MatrixXd> corruption #124

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manipulation: add TransitionPlanner::planPathSingle to work around eigenpy (1,N) Ref<MatrixXd> corruption #124

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25 changes: 25 additions & 0 deletions src/pyhpp/manipulation/path-planner.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,29 @@ PathVectorPtr_t TransitionPlanner::planPath(ConfigurationIn_t qInit,
return trObj()->planPath(qInit, qGoals, resetRoadmap);
}

PathVectorPtr_t TransitionPlanner::planPathSingle(ConfigurationIn_t qInit,
ConfigurationIn_t qGoal,
bool resetRoadmap) {
const size_type n = obj->problem()->robot()->configSize();
if (qInit.rows() != n) {
std::ostringstream os;
os << "qInit = " << hpp::pinocchio::displayConfig(qInit)
<< "should be of size " << n << ".";
throw std::logic_error(os.str().c_str());
}
if (qGoal.rows() != n) {
std::ostringstream os;
os << "qGoal = " << hpp::pinocchio::displayConfig(qGoal)
<< "should be of size " << n << ".";
throw std::logic_error(os.str().c_str());
}
// Build a C++-owned (1 x n) MatrixXd to avoid the eigenpy (1,N) conversion
// issue where Ref<const MatrixXd> receives garbage values for rows()>0 index.
hpp::constraints::matrix_t goals(1, n);
goals.row(0) = qGoal;
return trObj()->planPath(qInit, goals, resetRoadmap);
}

tuple TransitionPlanner::directPath(ConfigurationIn_t q1, ConfigurationIn_t q2,
bool validate) {
if (q1.rows() != obj->problem()->robot()->configSize()) {
Expand Down Expand Up @@ -255,6 +278,8 @@ void exposePathPlanners() {
.def("innerProblem", &TransitionPlanner::innerProblem,
DocClassMethod(innerProblem))
.def("planPath", &TransitionPlanner::planPath, DocClassMethod(planPath))
.def("planPathSingle", &TransitionPlanner::planPathSingle,
DocClassMethod(planPath))
.def("directPath", &TransitionPlanner::directPath)
.def("validateConfiguration", &TransitionPlanner::validateConfiguration)
.def("optimizePath", &TransitionPlanner::optimizePath,
Expand Down
2 changes: 2 additions & 0 deletions src/pyhpp/manipulation/path-planner.hh
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Expand Up @@ -56,6 +56,8 @@ struct TransitionPlanner : public pyhpp::core::PathPlanner {
pyhpp::core::Problem innerProblem() const;
PathVectorPtr_t planPath(ConfigurationIn_t qInit, matrixIn_t qGoals,
bool resetRoadmap);
PathVectorPtr_t planPathSingle(ConfigurationIn_t qInit,
ConfigurationIn_t qGoal, bool resetRoadmap);
tuple directPath(ConfigurationIn_t q1, ConfigurationIn_t q2, bool validate);
tuple validateConfiguration(ConfigurationIn_t q, std::size_t id) const;
PathVectorPtr_t optimizePath(const PathPtr_t& path);
Expand Down