TEST(cast, boxes) {
EnvironmentBasePtr env = RaveCreateEnvironment();
ASSERT_TRUE(env->Load(data_dir() + "/box.xml"));
ASSERT_TRUE(env->Load(data_dir() + "/boxbot.xml"));
KinBodyPtr box = env->GetKinBody("box");
RobotBasePtr boxbot = env->GetRobot("boxbot");
RobotAndDOFPtr rad(new RobotAndDOF(boxbot, IntVec(), DOF_X | DOF_Y, Vector()));
rad->GetRobot()->SetActiveDOFs(rad->GetJointIndices(), DOF_X | DOF_Y, Vector());
Json::Value root = readJsonFile(string(DATA_DIR) + "/box_cast_test.json");
DblVec start_dofs; start_dofs += -1.9, 0;
rad->SetDOFValues(start_dofs);
TrajOptProbPtr prob = ConstructProblem(root, env);
TrajArray traj = prob->GetInitTraj();
//shouldn't be necessary:
#if 0
ASSERT_TRUE(!!prob);
double dist_pen = .02, coeff = 10;
prob->addCost(CostPtr(new CollisionCost(dist_pen, coeff, rad, prob->GetVarRow(0), prob->GetVarRow(1))));
prob->addCost(CostPtr(new CollisionCost(dist_pen, coeff, rad, prob->GetVarRow(1), prob->GetVarRow(2))));
CollisionCheckerPtr checker = CollisionChecker::GetOrCreate(*prob->GetEnv());
{
vector<Collision> collisions;
checker->ContinuousCheckTrajectory(traj, *rad, collisions);
}
vector<Collision> collisions;
cout << "traj: " << endl << traj << endl;
checker->CastVsAll(*rad, rad->GetRobot()->GetLinks(), toDblVec(traj.row(0)), toDblVec(traj.row(1)), collisions);
cout << collisions.size() << endl;
#endif
BasicTrustRegionSQP opt(prob);
if (plotting) opt.addCallback(PlotCallback(*prob));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();
if (plotting) PlotCallback(*prob)(NULL, opt.x());
}
void PyTrajOptProb::AddErrCost2(py::object f, py::object dfdx, py::list ijs, const string& typestr, const string& name) {
PenaltyType type = _GetPenaltyType(typestr);
VarVector vars = _GetVars(ijs, m_prob->GetVars());
CostPtr c(new CostFromErrFunc(VectorOfVectorPtr(new VectorFuncFromPy(f)), MatrixOfVectorPtr(new MatrixFuncFromPy(dfdx)), vars, VectorXd(), type, name));
m_prob->addCost(c);
}
void PyTrajOptProb::AddCost1(py::object f, py::list ijs, const string& name) {
VarVector vars = _GetVars(ijs, m_prob->GetVars());
CostPtr c(new CostFromFunc(ScalarOfVectorPtr(new ScalarFuncFromPy(f)), vars, "f"));
m_prob->addCost(c);
}