projection_evaluators.cpp

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/* Author: Ioan Sucan */

#include <moveit/ompl_interface/detail/projection_evaluators.h>
#include <moveit/ompl_interface/model_based_planning_context.h>

ompl_interface::ProjectionEvaluatorLinkPose::ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext *pc, const std::string &link) :
  ompl::base::ProjectionEvaluator(pc->getOMPLStateSpace()), planning_context_(pc),
  group_name_(planning_context_->getGroupName()), link_name_(link),
  tss_(planning_context_->getCompleteInitialRobotState())
{
}

unsigned int ompl_interface::ProjectionEvaluatorLinkPose::getDimension() const
{
  return 3;
}

void ompl_interface::ProjectionEvaluatorLinkPose::defaultCellSizes()
{
  cellSizes_.resize(3);
  cellSizes_[0] = 0.1;
  cellSizes_[1] = 0.1;
  cellSizes_[2] = 0.1;
}

void ompl_interface::ProjectionEvaluatorLinkPose::project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const
{
  robot_state::RobotState *s = tss_.getStateStorage();
  planning_context_->getOMPLStateSpace()->copyToRobotState(*s, state);

  const robot_state::LinkState *ls = s->getLinkState(link_name_);
  const Eigen::Vector3d &o = ls->getGlobalLinkTransform().translation();
  projection(0) = o.x();
  projection(1) = o.y();
  projection(2) = o.z();
}

ompl_interface::ProjectionEvaluatorJointValue::ProjectionEvaluatorJointValue(const ModelBasedPlanningContext *pc,
                                                                             const std::vector<std::pair<std::string, unsigned int> > &joints) :
  ompl::base::ProjectionEvaluator(pc->getOMPLStateSpace()), planning_context_(pc), joints_(joints)
{
  dimension_ = 0;
  for (std::size_t i = 0 ; i < joints_.size() ; ++i)
    dimension_ += joints_[i].second;
}

unsigned int ompl_interface::ProjectionEvaluatorJointValue::getDimension() const
{
  return dimension_;
}

void ompl_interface::ProjectionEvaluatorJointValue::defaultCellSizes()
{
  cellSizes_.clear();
  cellSizes_.resize(dimension_, 0.1);
}

void ompl_interface::ProjectionEvaluatorJointValue::project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const
{
  unsigned int k = 0;
  for (std::size_t i = 0 ; i < joints_.size() ; ++i)
  {
    const double *v = planning_context_->getOMPLStateSpace()->getValueAddressAtName(state, joints_[i].first);
    for (unsigned int j = 0 ; j < joints_[i].second ; ++j)
      projection(k++) = v[j];
  }
}