Program Listing for File trajectory_generator.h
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#pragma once
#include <sstream>
#include <string>
#include <Eigen/Geometry>
#include <kdl/frames.hpp>
#include <kdl/trajectory.hpp>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/planning_scene/planning_scene.h>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/limits_container.h>
#include <pilz_industrial_motion_planner/trajectory_functions.h>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.h>
namespace pilz_industrial_motion_planner
{
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(TrajectoryGeneratorInvalidLimitsException,
moveit_msgs::msg::MoveItErrorCodes::FAILURE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(VelocityScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(AccelerationScalingIncorrect,
moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPlanningGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoJointNamesInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(SizeMismatchInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfStartStateOutOfRange,
moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NonZeroVelocityInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NotExactlyOneGoalConstraintGiven,
moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OnlyOneGoalTypeAllowed, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateGoalStateMismatch,
moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointConstraintDoesNotBelongToGroup,
moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfGoalOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionConstraintNameMissing,
moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OrientationConstraintNameMissing,
moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionOrientationConstraintNameMismatch,
moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoIKSolverAvailable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePoseGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
class TrajectoryGenerator
{
public:
TrajectoryGenerator(const moveit::core::RobotModelConstPtr& robot_model,
const pilz_industrial_motion_planner::LimitsContainer& planner_limits)
: robot_model_(robot_model), planner_limits_(planner_limits), clock_(std::make_unique<rclcpp::Clock>())
{
}
virtual ~TrajectoryGenerator() = default;
void generate(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
planning_interface::MotionPlanResponse& res, double sampling_time = 0.1);
protected:
class MotionPlanInfo
{
public:
std::string group_name;
std::string link_name;
Eigen::Isometry3d start_pose;
Eigen::Isometry3d goal_pose;
std::map<std::string, double> start_joint_position;
std::map<std::string, double> goal_joint_position;
std::pair<std::string, Eigen::Vector3d> circ_path_point;
};
std::unique_ptr<KDL::VelocityProfile> cartesianTrapVelocityProfile(double max_velocity_scaling_factor,
double max_acceleration_scaling_factor,
const std::unique_ptr<KDL::Path>& path) const;
private:
virtual void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const;
virtual void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const = 0;
virtual void plan(const planning_scene::PlanningSceneConstPtr& scene,
const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
double sampling_time, trajectory_msgs::msg::JointTrajectory& joint_trajectory) = 0;
private:
void validateRequest(const planning_interface::MotionPlanRequest& req) const;
void setSuccessResponse(const moveit::core::RobotState& start_rs, const std::string& group_name,
const trajectory_msgs::msg::JointTrajectory& joint_trajectory,
const rclcpp::Time& planning_start, planning_interface::MotionPlanResponse& res) const;
void setFailureResponse(const rclcpp::Time& planning_start, planning_interface::MotionPlanResponse& res) const;
void checkForValidGroupName(const std::string& group_name) const;
void checkStartState(const moveit_msgs::msg::RobotState& start_state, const std::string& group) const;
void checkGoalConstraints(const moveit_msgs::msg::MotionPlanRequest::_goal_constraints_type& goal_constraints,
const std::vector<std::string>& expected_joint_names, const std::string& group_name) const;
void checkJointGoalConstraint(const moveit_msgs::msg::Constraints& constraint,
const std::vector<std::string>& expected_joint_names,
const std::string& group_name) const;
void checkCartesianGoalConstraint(const moveit_msgs::msg::Constraints& constraint,
const std::string& group_name) const;
private:
sensor_msgs::msg::JointState filterGroupValues(const sensor_msgs::msg::JointState& robot_state,
const std::string& group) const;
static bool isScalingFactorValid(double scaling_factor);
static void checkVelocityScaling(double scaling_factor);
static void checkAccelerationScaling(double scaling_factor);
static bool isCartesianGoalGiven(const moveit_msgs::msg::Constraints& constraint);
static bool isJointGoalGiven(const moveit_msgs::msg::Constraints& constraint);
static bool isOnlyOneGoalTypeGiven(const moveit_msgs::msg::Constraints& constraint);
protected:
const moveit::core::RobotModelConstPtr robot_model_;
const pilz_industrial_motion_planner::LimitsContainer planner_limits_;
static constexpr double MIN_SCALING_FACTOR{ 0.0001 };
static constexpr double MAX_SCALING_FACTOR{ 1. };
static constexpr double VELOCITY_TOLERANCE{ 1e-8 };
const std::unique_ptr<rclcpp::Clock> clock_;
};
inline bool TrajectoryGenerator::isScalingFactorValid(double scaling_factor)
{
return (scaling_factor > MIN_SCALING_FACTOR && scaling_factor <= MAX_SCALING_FACTOR);
}
inline bool TrajectoryGenerator::isCartesianGoalGiven(const moveit_msgs::msg::Constraints& constraint)
{
return constraint.position_constraints.size() == 1 && constraint.orientation_constraints.size() == 1;
}
inline bool TrajectoryGenerator::isJointGoalGiven(const moveit_msgs::msg::Constraints& constraint)
{
return !constraint.joint_constraints.empty();
}
inline bool TrajectoryGenerator::isOnlyOneGoalTypeGiven(const moveit_msgs::msg::Constraints& constraint)
{
return (isJointGoalGiven(constraint) && !isCartesianGoalGiven(constraint)) ||
(!isJointGoalGiven(constraint) && isCartesianGoalGiven(constraint));
}
} // namespace pilz_industrial_motion_planner