add_time_parameterization.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <class_loader/class_loader.h>
#include <ros/console.h>

/*
#include <ReflexxesAPI.h>
#include <RMLPositionFlags.h>
#include <RMLPositionInputParameters.h>
#include <RMLPositionOutputParameters.h>
*/

namespace default_planner_request_adapters
{

class AddTimeParameterization : public planning_request_adapter::PlanningRequestAdapter
{
public:

  AddTimeParameterization() : planning_request_adapter::PlanningRequestAdapter()
  {
  }
  /*
  void reflexxesComputeTime(robot_trajectory::RobotTrajectory &traj) const
  {

    boost::scoped_ptr<ReflexxesAPI> RML;
    boost::scoped_ptr<RMLPositionInputParameters> IP;
    boost::scoped_ptr<RMLPositionOutputParameters> OP;
    RMLPositionFlags Flags;

    // ********************************************************************
    // Creating all relevant objects of the Reflexxes Motion Library

    RML.reset(new ReflexxesAPI(7, 0.01));
    IP.reset(new RMLPositionInputParameters(7));
    OP.reset(new RMLPositionOutputParameters(7));

    std::vector<double> v;
    traj.getFirstWayPoint().getJointStateGroup(traj.getGroup()->getName())->getVariableValues(v);

    for (int i = 0; i < 7 ; ++i)
    {
      IP->CurrentPositionVector->VecData        [i]    =       v[i]; // rad
      IP->CurrentVelocityVector->VecData        [i]    =       0.0        ; // rad/s
      IP->CurrentAccelerationVector->VecData            [i]    =       0.0        ; // not needed for type 2
      IP->MaxVelocityVector->VecData            [i]    =       1.5        ; // rad/s
      IP->MaxAccelerationVector->VecData        [i]    =       1.0        ; //
      IP->MaxJerkVector->VecData            [i]    =       0.1        ; // not needed for type 2
      IP->TargetPositionVector->VecData                [i]    =       v[i]; // first waypoint
      IP->TargetVelocityVector->VecData                [i]    =       0.0        ; // velocity at first waypoint
      IP->SelectionVector->VecData            [i]    =      true        ;
    }
    bool error = false;
    for (std::size_t i = 1 ; !error && i < traj.getWayPointCount() ; ++i)
    {
      int ResultValue = 0;
      double totalt = 0.0;

      while (ResultValue != ReflexxesAPI::RML_FINAL_STATE_REACHED)
      {

        // ****************************************************************
        // Wait for the next timer tick
        // (not implemented in this example in order to keep it simple)
        // ****************************************************************

        // Calling the Reflexxes OTG algorithm
        ResultValue    =    RML->RMLPosition(*IP,    OP.get(),    Flags);

        if (ResultValue < 0)
        {
          printf("An error occurred (%d).\n", ResultValue    );
          error = true;
          break;
        }

        totalt += 0.01;


        // ****************************************************************
        // Here, the new state of motion, that is
        //
        // - OP->NewPositionVector
        // - OP->NewVelocityVector
        // - OP->NewAccelerationVector
        //
        // can be used as input values for lower level controllers. In the
        // most simple case, a position controller in actuator space is
        // used, but the computed state can be applied to many other
        // controllers (e.g., Cartesian impedance controllers,
        // operational space controllers).
        // ****************************************************************

        // ****************************************************************
        // Feed the output values of the current control cycle back to
        // input values of the next control cycle

        *IP->CurrentPositionVector        =    *OP->NewPositionVector        ;
        *IP->CurrentVelocityVector        =    *OP->NewVelocityVector        ;
        *IP->CurrentAccelerationVector            =    *OP->NewAccelerationVector    ;
      }
      std::cout << "T" << i << " :" << totalt << std::endl;

      traj.setWayPointDurationFromPrevious(i, totalt);
      traj.getWayPoint(i).getJointStateGroup(traj.getGroup()->getName())->getVariableValues(v);
      for (int k = 0 ; k < 7 ; ++k)
        IP->TargetPositionVector->VecData[k] = v[k];
    }
  }
  */
  virtual std::string getDescription() const { return "Add Time Parameterization"; }

  virtual bool adaptAndPlan(const PlannerFn &planner,
                            const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest &req,
                            planning_interface::MotionPlanResponse &res,
                            std::vector<std::size_t> &added_path_index) const
  {
    bool result = planner(planning_scene, req, res);
    if (result && res.trajectory_)
    {
      ROS_DEBUG("Running '%s'", getDescription().c_str());
      if (!time_param_.computeTimeStamps(*res.trajectory_))
        ROS_WARN("Time parametrization for the solution path failed.");
    }

    return result;
  }

private:

  trajectory_processing::IterativeParabolicTimeParameterization time_param_;
};

}

CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeParameterization,
                            planning_request_adapter::PlanningRequestAdapter);