Program Listing for File tolerances.hpp
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// Copyright 2013 PAL Robotics S.L.
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#ifndef JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
#define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
#include <limits>
#include <stdexcept>
#include <string>
#include <vector>
#include "control_msgs/action/follow_joint_trajectory.hpp"
#include "joint_trajectory_controller/joint_trajectory_controller_parameters.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/time.hpp"
namespace joint_trajectory_controller
{
struct StateTolerances
{
double position = 0.0;
double velocity = 0.0;
double acceleration = 0.0;
};
struct SegmentTolerances
{
explicit SegmentTolerances(size_t size = 0) : state_tolerance(size), goal_state_tolerance(size) {}
std::vector<StateTolerances> state_tolerance;
std::vector<StateTolerances> goal_state_tolerance;
double goal_time_tolerance = 0.0;
};
SegmentTolerances get_segment_tolerances(rclcpp::Logger & jtc_logger, const Params & params)
{
auto const & constraints = params.constraints;
auto const n_joints = params.joints.size();
SegmentTolerances tolerances;
tolerances.goal_time_tolerance = constraints.goal_time;
static auto logger = jtc_logger.get_child("tolerance");
RCLCPP_DEBUG(logger, "goal_time %f", constraints.goal_time);
// State and goal state tolerances
tolerances.state_tolerance.resize(n_joints);
tolerances.goal_state_tolerance.resize(n_joints);
for (size_t i = 0; i < n_joints; ++i)
{
auto const joint = params.joints[i];
tolerances.state_tolerance[i].position = constraints.joints_map.at(joint).trajectory;
tolerances.goal_state_tolerance[i].position = constraints.joints_map.at(joint).goal;
tolerances.goal_state_tolerance[i].velocity = constraints.stopped_velocity_tolerance;
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".trajectory.position").c_str(),
tolerances.state_tolerance[i].position);
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".goal.position").c_str(),
tolerances.goal_state_tolerance[i].position);
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".goal.velocity").c_str(),
tolerances.goal_state_tolerance[i].velocity);
}
return tolerances;
}
double resolve_tolerance_source(const double default_value, const double goal_value)
{
// from
// https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg
// There are two special values for tolerances:
// * 0 - The tolerance is unspecified and will remain at whatever the default is
// * -1 - The tolerance is "erased".
// If there was a default, the joint will be allowed to move without restriction.
constexpr double ERASE_VALUE = -1.0;
auto is_erase_value = [=](double value)
{ return fabs(value - ERASE_VALUE) < std::numeric_limits<float>::epsilon(); };
if (goal_value > 0.0)
{
return goal_value;
}
else if (is_erase_value(goal_value))
{
return 0.0;
}
else if (goal_value < 0.0)
{
throw std::runtime_error("Illegal tolerance value.");
}
return default_value;
}
SegmentTolerances get_segment_tolerances(
rclcpp::Logger & jtc_logger, const SegmentTolerances & default_tolerances,
const control_msgs::action::FollowJointTrajectory::Goal & goal,
const std::vector<std::string> & joints)
{
SegmentTolerances active_tolerances(default_tolerances);
static auto logger = jtc_logger.get_child("tolerance");
try
{
active_tolerances.goal_time_tolerance = resolve_tolerance_source(
default_tolerances.goal_time_tolerance, rclcpp::Duration(goal.goal_time_tolerance).seconds());
}
catch (const std::runtime_error & e)
{
RCLCPP_ERROR_STREAM(
logger, "Specified illegal goal_time_tolerance: "
<< rclcpp::Duration(goal.goal_time_tolerance).seconds()
<< ". Using default tolerances");
return default_tolerances;
}
RCLCPP_DEBUG(logger, "%s %f", "goal_time", active_tolerances.goal_time_tolerance);
// State and goal state tolerances
for (auto joint_tol : goal.path_tolerance)
{
auto const joint = joint_tol.name;
// map joint names from goal to active_tolerances
auto it = std::find(joints.begin(), joints.end(), joint);
if (it == joints.end())
{
RCLCPP_ERROR(
logger, "%s",
("joint '" + joint +
"' specified in goal.path_tolerance does not exist. "
"Using default tolerances.")
.c_str());
return default_tolerances;
}
auto i = static_cast<size_t>(std::distance(joints.cbegin(), it));
std::string interface = "";
try
{
interface = "position";
active_tolerances.state_tolerance[i].position = resolve_tolerance_source(
default_tolerances.state_tolerance[i].position, joint_tol.position);
interface = "velocity";
active_tolerances.state_tolerance[i].velocity = resolve_tolerance_source(
default_tolerances.state_tolerance[i].velocity, joint_tol.velocity);
interface = "acceleration";
active_tolerances.state_tolerance[i].acceleration = resolve_tolerance_source(
default_tolerances.state_tolerance[i].acceleration, joint_tol.acceleration);
}
catch (const std::runtime_error & e)
{
RCLCPP_ERROR_STREAM(
logger, "joint '" << joint << "' specified in goal.path_tolerance has a invalid "
<< interface << " tolerance. Using default tolerances.");
return default_tolerances;
}
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".state_tolerance.position").c_str(),
active_tolerances.state_tolerance[i].position);
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".state_tolerance.velocity").c_str(),
active_tolerances.state_tolerance[i].velocity);
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".state_tolerance.acceleration").c_str(),
active_tolerances.state_tolerance[i].acceleration);
}
for (auto goal_tol : goal.goal_tolerance)
{
auto const joint = goal_tol.name;
// map joint names from goal to active_tolerances
auto it = std::find(joints.begin(), joints.end(), joint);
if (it == joints.end())
{
RCLCPP_ERROR(
logger, "%s",
("joint '" + joint +
"' specified in goal.goal_tolerance does not exist. "
"Using default tolerances.")
.c_str());
return default_tolerances;
}
auto i = static_cast<size_t>(std::distance(joints.cbegin(), it));
std::string interface = "";
try
{
interface = "position";
active_tolerances.goal_state_tolerance[i].position = resolve_tolerance_source(
default_tolerances.goal_state_tolerance[i].position, goal_tol.position);
interface = "velocity";
active_tolerances.goal_state_tolerance[i].velocity = resolve_tolerance_source(
default_tolerances.goal_state_tolerance[i].velocity, goal_tol.velocity);
interface = "acceleration";
active_tolerances.goal_state_tolerance[i].acceleration = resolve_tolerance_source(
default_tolerances.goal_state_tolerance[i].acceleration, goal_tol.acceleration);
}
catch (const std::runtime_error & e)
{
RCLCPP_ERROR_STREAM(
logger, "joint '" << joint << "' specified in goal.goal_tolerance has a invalid "
<< interface << " tolerance. Using default tolerances.");
return default_tolerances;
}
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".goal_state_tolerance.position").c_str(),
active_tolerances.goal_state_tolerance[i].position);
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".goal_state_tolerance.velocity").c_str(),
active_tolerances.goal_state_tolerance[i].velocity);
RCLCPP_DEBUG(
logger, "%s %f", (joint + ".goal_state_tolerance.acceleration").c_str(),
active_tolerances.goal_state_tolerance[i].acceleration);
}
return active_tolerances;
}
inline bool check_state_tolerance_per_joint(
const trajectory_msgs::msg::JointTrajectoryPoint & state_error, size_t joint_idx,
const StateTolerances & state_tolerance, bool show_errors = false)
{
using std::abs;
const double error_position = state_error.positions[joint_idx];
const double error_velocity =
state_error.velocities.empty() ? 0.0 : state_error.velocities[joint_idx];
const double error_acceleration =
state_error.accelerations.empty() ? 0.0 : state_error.accelerations[joint_idx];
const bool is_valid =
!(state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position) &&
!(state_tolerance.velocity > 0.0 && abs(error_velocity) > state_tolerance.velocity) &&
!(state_tolerance.acceleration > 0.0 && abs(error_acceleration) > state_tolerance.acceleration);
if (is_valid)
{
return true;
}
if (show_errors)
{
const auto logger = rclcpp::get_logger("tolerances");
RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);
if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
{
RCLCPP_ERROR(
logger, "Position Error: %f, Position Tolerance: %f", error_position,
state_tolerance.position);
}
if (state_tolerance.velocity > 0.0 && abs(error_velocity) > state_tolerance.velocity)
{
RCLCPP_ERROR(
logger, "Velocity Error: %f, Velocity Tolerance: %f", error_velocity,
state_tolerance.velocity);
}
if (
state_tolerance.acceleration > 0.0 && abs(error_acceleration) > state_tolerance.acceleration)
{
RCLCPP_ERROR(
logger, "Acceleration Error: %f, Acceleration Tolerance: %f", error_acceleration,
state_tolerance.acceleration);
}
}
return false;
}
} // namespace joint_trajectory_controller
#endif // JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_