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[manipulation] Remove class SplineGradient #195

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Merged
florent-lamiraux merged 1 commit into from
Oct 23, 2026
Merged

[manipulation] Remove class SplineGradient #195

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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).

## [Unreleased]

- [manipulation] Remove class ManipulationSpline
- [path-validation] Create NoValidation without a ProblemSolver

## [9.1.0] - 2026-10-13
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113 changes: 19 additions & 94 deletions src/pyhpp/manipulation/path-optimizer.cc
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Expand Up @@ -35,7 +35,6 @@
#include <hpp/core/problem.hh>
#include <hpp/manipulation/graph-optimizer.hh>
#include <hpp/manipulation/path-optimization/enforce-transition-semantic.hh>
#include <hpp/manipulation/path-optimization/manipulation-spline.hh>
#include <hpp/manipulation/path-optimization/random-shortcut.hh>
#include <hpp/manipulation/path-optimization/spline-gradient-based.hh>
#include <pyhpp/core/problem.hh>
Expand Down Expand Up @@ -91,92 +90,32 @@ hpp::core::PathOptimizerPtr_t createGraphOptimizer(
return GraphOptimizer::create<InnerOpt>(problem);
}

typedef pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis,
1>
SGB1_t;

static SGB1_t::Ptr_t createSplineGradientBased1(
const pyhpp::core::Problem& problem) {
template <int Order>
typename pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis,
Order>::Ptr_t
createSplineGradientBased(const pyhpp::core::Problem& problem) {
hpp::manipulation::ProblemPtr_t manipProblem =
HPP_DYNAMIC_PTR_CAST(hpp::manipulation::Problem, problem.obj);
if (!manipProblem) {
throw std::runtime_error(
"SplineGradientBased_bezier1 constructor expects a "
"pyhpp.manipulation.Problem as input");
}
return SGB1_t::create(manipProblem);
}

typedef pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis,
3>
SGB3_t;

static SGB3_t::Ptr_t createSplineGradientBased3(
const pyhpp::core::Problem& problem) {
hpp::manipulation::ProblemPtr_t manipProblem =
HPP_DYNAMIC_PTR_CAST(hpp::manipulation::Problem, problem.obj);
if (!manipProblem) {
throw std::runtime_error(
"SplineGradientBased_bezier3 constructor expects a "
"pyhpp.manipulation.Problem as input");
}
return SGB3_t::create(manipProblem);
return pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis,
Order>::create(manipProblem);
}

void exposeSplineGradientBased1(const char* name) {
typedef pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis,
1>
template <int Order>
void exposeSplineGradientBased(const char* name) {
typedef hpp::manipulation::pathOptimization::SplineGradientBased<
hpp::core::path::BernsteinBasis, Order>
SGB_t;
class_<SGB_t, std::shared_ptr<SGB_t>, bases<PathOptimizer>,
boost::noncopyable>(name, no_init)
.def("__init__", make_constructor(&createSplineGradientBased1))
.def_readwrite("alphaInit", &SGB_t::alphaInit)
.def_readwrite("alwaysStopAtFirst", &SGB_t::alwaysStopAtFirst)
.def_readwrite("costOrder", &SGB_t::costOrder)
.def_readwrite("usePathLengthAsWeights", &SGB_t::usePathLengthAsWeights)
.def_readwrite("reorderIntervals", &SGB_t::reorderIntervals)
.def_readwrite("linearizeAtEachStep", &SGB_t::linearizeAtEachStep)
.def_readwrite("checkJointBound", &SGB_t::checkJointBound)
.def_readwrite("returnOptimum", &SGB_t::returnOptimum)
.def_readwrite("costThreshold", &SGB_t::costThreshold)
.def_readwrite("guessThreshold", &SGB_t::guessThreshold)
.def_readwrite("QPAccuracy", &SGB_t::QPAccuracy);
}

void exposeSplineGradientBased3(const char* name) {
typedef pathOptimization::SplineGradientBased<hpp::core::path::BernsteinBasis,
3>
SGB_t;
class_<SGB_t, std::shared_ptr<SGB_t>, bases<PathOptimizer>,
boost::noncopyable>(name, no_init)
.def("__init__", make_constructor(&createSplineGradientBased3))
.def_readwrite("alphaInit", &SGB_t::alphaInit)
.def_readwrite("alwaysStopAtFirst", &SGB_t::alwaysStopAtFirst)
.def_readwrite("costOrder", &SGB_t::costOrder)
.def_readwrite("usePathLengthAsWeights", &SGB_t::usePathLengthAsWeights)
.def_readwrite("reorderIntervals", &SGB_t::reorderIntervals)
.def_readwrite("linearizeAtEachStep", &SGB_t::linearizeAtEachStep)
.def_readwrite("checkJointBound", &SGB_t::checkJointBound)
.def_readwrite("returnOptimum", &SGB_t::returnOptimum)
.def_readwrite("costThreshold", &SGB_t::costThreshold)
.def_readwrite("guessThreshold", &SGB_t::guessThreshold)
.def_readwrite("QPAccuracy", &SGB_t::QPAccuracy);
}

static pathOptimization::ManipulationSpline::Ptr_t createManipulationSpline(
const pyhpp::core::Problem& problem) {
return pathOptimization::ManipulationSpline::create(problem.obj);
}

static list getSingleSplineTransitions(
const pathOptimization::ManipulationSpline& spline) {
return pyhpp::to_python_list(spline.singleSplineTransitions);
}

static void setSingleSplineTransitions(
pathOptimization::ManipulationSpline& spline, const object& names) {
spline.singleSplineTransitions =
pyhpp::extract_vector<std::string>(list(names));
typedef hpp::core::pathOptimization::SplineGradientBased<
hpp::core::path::BernsteinBasis, Order>
Parent_t;
class_<SGB_t, std::shared_ptr<SGB_t>, bases<Parent_t>, boost::noncopyable>(
name, no_init)
.def("__init__", make_constructor(&createSplineGradientBased<Order>));
}

void exposePathOptimizers() {
Expand All @@ -200,23 +139,9 @@ void exposePathOptimizers() {

def("GraphPartialShortcut",
&createGraphOptimizer<hpp::core::pathOptimization::PartialShortcut>);
exposeSplineGradientBased1("SplineGradientBased_bezier1");
exposeSplineGradientBased3("SplineGradientBased_bezier3");

class_<pathOptimization::ManipulationSpline,
std::shared_ptr<pathOptimization::ManipulationSpline>, bases<SGB3_t>,
boost::noncopyable>(
"ManipulationSpline",
"Smooth transitions, then join splines within each manipulation state.\n"
"\n"
"The result contains one path vector per consecutive group of\n"
"transitions with the same containing state.",
no_init)
.def("__init__", make_constructor(&createManipulationSpline))
.add_property("singleSplineTransitions", &getSingleSplineTransitions,
&setSingleSplineTransitions,
"Transitions fitted with one spline between their "
"endpoints.");
exposeSplineGradientBased<1>("SplineGradientBased_bezier1");
exposeSplineGradientBased<3>("SplineGradientBased_bezier3");
exposeSplineGradientBased<5>("SplineGradientBased_bezier5");
}

} // namespace manipulation
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