kinematics_speed_and_validity_evaluator.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/profiler/profiler.h>
#include <ros/ros.h>

static const std::string ROBOT_DESCRIPTION = "robot_description";

int main(int argc, char **argv)
{
  ros::init(argc, argv, "inverse_kinematics_test");

  ros::AsyncSpinner spinner(1);
  spinner.start();

  if (argc <= 1)
    ROS_ERROR("An argument specifying the group name is needed");
  else
  {
    robot_model_loader::RobotModelLoader rml(ROBOT_DESCRIPTION);
    std::string group = argv[1];
    ROS_INFO_STREAM("Evaluating IK for " << group);

    const robot_model::JointModelGroup *jmg = rml.getModel()->getJointModelGroup(group);
    if (jmg)
    {
      const kinematics::KinematicsBaseConstPtr &solver = jmg->getSolverInstance();
      if (solver)
      {
    const std::string &tip = solver->getTipFrame();
    robot_state::RobotState state(rml.getModel());
    state.setToDefaultValues();
    robot_state::JointStateGroup *jsg = state.getJointStateGroup(group);

    ROS_INFO_STREAM("Tip Frame:  " << solver->getTipFrame());
    ROS_INFO_STREAM("Base Frame: " << solver->getBaseFrame());
    ROS_INFO_STREAM("IK Timeout: " << solver->getDefaultTimeout());
    ROS_INFO_STREAM("Search res: " << solver->getSearchDiscretization());

    unsigned int test_count = 1000;
    if (argc > 2)
      try
      {
        test_count = boost::lexical_cast<unsigned int>(argv[2]);
      }
      catch(...)
      {
      }

    ROS_INFO("Running %u tests", test_count);

    moveit::Profiler::Start();
    for (int i = 0 ; i < test_count ; ++i)
    {
      jsg->setToRandomValues();
      Eigen::Affine3d pose = state.getLinkState(tip)->getGlobalLinkTransform();
      jsg->setToRandomValues();
      moveit::Profiler::Begin("IK");
      jsg->setFromIK(pose);
      moveit::Profiler::End("IK");
      const Eigen::Affine3d &pose_upd = state.getLinkState(tip)->getGlobalLinkTransform();
      Eigen::Affine3d diff = pose_upd * pose.inverse();
      double rot_err = (diff.rotation() - Eigen::Matrix3d::Identity()).norm();
      double trans_err = diff.translation().norm();
      moveit::Profiler::Average("Rotation error", rot_err);
      moveit::Profiler::Average("Translation error", trans_err);
      if (rot_err < 1e-3 && trans_err < 1e-3)
      {
        moveit::Profiler::Event("Valid IK");
        moveit::Profiler::Average("Success Rate", 100);
      }
      else
      {
        moveit::Profiler::Event("Invalid IK");
        moveit::Profiler::Average("Success Rate", 0);
      }
    }
    moveit::Profiler::Stop();
    moveit::Profiler::Status();
      }
      else
    ROS_ERROR_STREAM("No kinematics solver specified for group " << group);
    }
  }

  ros::shutdown();
  return 0;
}