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fix problem steering binding and access #165

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Merged
psardin001 merged 4 commits into from
Jul 9, 2026
Merged

fix problem steering binding and access #165

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0167330
[core] Bind trapezoidal time parameterization
psardin001 May 13, 2026
9f0dee2
[core] Bind trapezoidal parameter properties
psardin001 May 13, 2026
4ae7e4f
Merge remote-tracking branch 'origin/devel' into devel
psardin001 May 28, 2026
fd03fd2
[manipulation] Fix problem steering setter
psardin001 Jul 9, 2026
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24 changes: 24 additions & 0 deletions src/pyhpp/manipulation/problem.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include <hpp/core/path-projector.hh>
#include <hpp/core/problem.hh>
#include <hpp/core/steering-method/straight.hh>
#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
#include <hpp/manipulation/steering-method/graph.hh>
#include <pyhpp/core/steering-method.hh>

Expand Down Expand Up @@ -64,6 +65,28 @@ void Problem::checkProblem() const { asManipulationProblem()->checkProblem(); }

void Problem::steeringMethod(
const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod) {
auto manipulationSteeringMethod = HPP_DYNAMIC_PTR_CAST(
hpp::manipulation::SteeringMethod, steeringMethod->obj);
auto endEffectorTrajectorySteeringMethod = HPP_DYNAMIC_PTR_CAST(
hpp::manipulation::steeringMethod::EndEffectorTrajectory,
steeringMethod->obj);
if (manipulationSteeringMethod || endEffectorTrajectorySteeringMethod) {
obj->steeringMethod(steeringMethod->obj);
return;
}

manipulationSteeringMethod = HPP_DYNAMIC_PTR_CAST(
hpp::manipulation::SteeringMethod, obj->steeringMethod());
if (!manipulationSteeringMethod) {
manipulationSteeringMethod =
hpp::manipulation::steeringMethod::Graph::create(obj);
obj->steeringMethod(manipulationSteeringMethod);
}
manipulationSteeringMethod->innerSteeringMethod(steeringMethod->obj);
}

void Problem::fullSteeringMethod(
const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod) {
obj->steeringMethod(steeringMethod->obj);
}

Expand Down Expand Up @@ -137,6 +160,7 @@ void exposeProblem() {
static_cast<void (Problem::*)(
const pyhpp::manipulation::PyWGraphSteeringMethodPtr_t&)>(
&Problem::graphSteeringMethod))
.def("fullSteeringMethod", &Problem::fullSteeringMethod)
// .PYHPP_DEFINE_GETTER_SETTER_CONST_REF(Problem, pathValidation,
// PathValidationPtr_t) .PYHPP_DEFINE_METHOD(Problem,
// manipulationSteeringMethod) .PYHPP_DEFINE_METHOD(Problem,
Expand Down
2 changes: 2 additions & 0 deletions src/pyhpp/manipulation/problem.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,8 @@ struct Problem : public pyhpp::core::Problem {
const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod);
pyhpp::core::PyWSteeringMethodPtr_t steeringMethod() const;
void graphSteeringMethod(const PyWGraphSteeringMethodPtr_t& steeringMethod);
void fullSteeringMethod(
const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod);
// PathValidationPtr_t pathValidation() const;
// void pathValidation (const PathValidationPtr_t &pathValidation);
// SteeringMethodPtr_t manipulationSteeringMethod() const;
Expand Down
24 changes: 12 additions & 12 deletions tests/integration/construction-set-m-rrt.py
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Expand Up @@ -406,10 +406,10 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:
nodes.append(StateName(grasps))
rules.append(makeRule(grasps=grasps))

problem.steeringMethod = Straight(problem)
problem.pathValidation = Progressive(robot, 0.02)
problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.05
problem.steeringMethod(Straight(problem))
problem.pathValidation(Progressive(robot, 0.02))
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
)

factory = ConstraintGraphFactory(cg, constraints)
Expand All @@ -429,8 +429,8 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:

cg.initialize()

problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.05
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
)

nodes.append(nodes[-1])
Expand All @@ -445,10 +445,10 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:

rules.append(Rule(grippers=grippers, handles=[".*"] * len(grippers), link=True))

problem.steeringMethod = Straight(problem)
problem.pathValidation = Progressive(robot, 0.02)
problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.05
problem.steeringMethod(Straight(problem))
problem.pathValidation(Progressive(robot, 0.02))
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
)

factory = ConstraintGraphFactory(cg, constraints)
Expand All @@ -468,8 +468,8 @@ def forbidExcept(g: str, h: T.List[str]) -> T.List[Rule]:

cg.initialize()

problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.05
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
)

assert nCylinder == 2 and nSphere == 2
Expand Down
4 changes: 2 additions & 2 deletions tests/integration/pr2-in-iai-kitchen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@
q_goal[rank] = -0.5

problem = Problem(robot)
problem.pathValidation = Dichotomy(robot, 0.0)
problem.steeringMethod = Straight(problem)
problem.pathValidation(Dichotomy(robot, 0.0))
problem.steeringMethod(Straight(problem))

problem.initConfig(q_init)
problem.addGoalConfig(q_goal)
Expand Down
8 changes: 4 additions & 4 deletions tests/integration/romeo-placard.py
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Original file line number Diff line number Diff line change
Expand Up @@ -253,10 +253,10 @@
if not res:
raise RuntimeError("Failed to project goal configuration.")

problem.steeringMethod = Straight(problem)
problem.pathValidation = Dichotomy(robot, 0)
problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.05
problem.steeringMethod(Straight(problem))
problem.pathValidation(Dichotomy(robot, 0))
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.05)
)

problem.initConfig(q_init_proj)
Expand Down
8 changes: 4 additions & 4 deletions tests/integration/ur3-spheres-spf.py
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Expand Up @@ -279,12 +279,12 @@
e, [constraints["place_sphere{}/complement".format(i)]]
)

problem.steeringMethod = Straight(problem)
problem.pathValidation = Dichotomy(robot, 0)
problem.steeringMethod(Straight(problem))
problem.pathValidation(Dichotomy(robot, 0))

# need to set path projector due to implicit constraints added above
problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.01
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.01)
)

cg.initialize()
Expand Down
8 changes: 4 additions & 4 deletions tests/integration/ur3-spheres.py
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Original file line number Diff line number Diff line change
Expand Up @@ -258,10 +258,10 @@
e, [constraints["place_sphere{}/complement".format(i)]]
)

problem.steeringMethod = Straight(problem)
problem.pathValidation = Dichotomy(robot, 0)
problem.pathProjector = ProgressiveProjector(
problem.distance(), problem.steeringMethod, 0.01
problem.steeringMethod(Straight(problem))
problem.pathValidation(Dichotomy(robot, 0))
problem.pathProjector(
ProgressiveProjector(problem.distance(), problem.steeringMethod(), 0.01)
)

cg.initialize()
Expand Down