save_as_text.cpp

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/* Author: Ioan Sucan */

#include <moveit/warehouse/planning_scene_storage.h>
#include <moveit/warehouse/state_storage.h>
#include <moveit/warehouse/constraints_storage.h>
#include <boost/program_options/cmdline.hpp>
#include <boost/program_options/options_description.hpp>
#include <boost/program_options/parsers.hpp>
#include <boost/program_options/variables_map.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_state/conversions.h>
#include <ros/ros.h>

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

typedef std::pair<geometry_msgs::Point, geometry_msgs::Quaternion> LinkConstraintPair;
typedef std::map<std::string, LinkConstraintPair > LinkConstraintMap;

void collectLinkConstraints(const moveit_msgs::Constraints& constraints, LinkConstraintMap& lcmap )
{
  for(std::size_t i = 0; i < constraints.position_constraints.size(); ++i)
  {
    LinkConstraintPair lcp;
    const moveit_msgs::PositionConstraint &pc = constraints.position_constraints[i];
    lcp.first = pc.constraint_region.primitive_poses[0].position;
    lcmap[constraints.position_constraints[i].link_name] = lcp;
  }

  for(std::size_t i = 0; i < constraints.orientation_constraints.size(); ++i)
  {
    if(lcmap.count(constraints.orientation_constraints[i].link_name))
    {
      lcmap[constraints.orientation_constraints[i].link_name].second = constraints.orientation_constraints[i].orientation;
    } else{
      ROS_WARN("Orientation constraint for %s has no matching position constraint", constraints.orientation_constraints[i].link_name.c_str());
    }
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "save_warehouse_as_text", ros::init_options::AnonymousName);

  boost::program_options::options_description desc;
  desc.add_options()
    ("help", "Show help message")
    ("host", boost::program_options::value<std::string>(), "Host for the MongoDB.")
    ("port", boost::program_options::value<std::size_t>(), "Port for the MongoDB.");

  boost::program_options::variables_map vm;
  boost::program_options::store(boost::program_options::parse_command_line(argc, argv, desc), vm);
  boost::program_options::notify(vm);

  if (vm.count("help"))
  {
    std::cout << desc << std::endl;
    return 1;
  }

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

  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);

  moveit_warehouse::PlanningSceneStorage pss(vm.count("host") ? vm["host"].as<std::string>() : "",
                                             vm.count("port") ? vm["port"].as<std::size_t>() : 0);

  moveit_warehouse::RobotStateStorage rss(vm.count("host") ? vm["host"].as<std::string>() : "",
                                             vm.count("port") ? vm["port"].as<std::size_t>() : 0);

  moveit_warehouse::ConstraintsStorage cs(vm.count("host") ? vm["host"].as<std::string>() : "",
                                             vm.count("port") ? vm["port"].as<std::size_t>() : 0);

  std::vector<std::string> scene_names;
  pss.getPlanningSceneNames(scene_names);

  for (std::size_t i = 0 ; i < scene_names.size() ; ++i)
  {
    moveit_warehouse::PlanningSceneWithMetadata pswm;
    if (pss.getPlanningScene(pswm, scene_names[i]))
    {
      ROS_INFO("Saving scene '%s'", scene_names[i].c_str());
      psm.getPlanningScene()->setPlanningSceneMsg(static_cast<const moveit_msgs::PlanningScene&>(*pswm));
      std::ofstream fout((scene_names[i] + ".scene").c_str());
      psm.getPlanningScene()->saveGeometryToStream(fout);
      fout.close();

      std::vector<std::string> robotStateNames;
      robot_model::RobotModelConstPtr km = psm.getRobotModel();
      // Get start states for scene
      std::stringstream rsregex;
      rsregex << ".*" << scene_names[i] << ".*";
      rss.getKnownRobotStates(rsregex.str(), robotStateNames);

      // Get goal constraints for scene
      std::vector<std::string> constraintNames;

      std::stringstream csregex;
      csregex << ".*" << scene_names[i] << ".*";
      cs.getKnownConstraints(csregex.str(), constraintNames);

      if( !(robotStateNames.empty() && constraintNames.empty()) )
      {
        std::ofstream qfout((scene_names[i] + ".queries").c_str());
        qfout << scene_names[i] << std::endl;
        if(robotStateNames.size())
        {
          qfout << "start" << std::endl;
          qfout << robotStateNames.size() << std::endl;
          for(std::size_t k = 0; k < robotStateNames.size(); ++k)
          {
            ROS_INFO("Saving start state %s for scene %s", robotStateNames[k].c_str(), scene_names[i].c_str());
            qfout << robotStateNames[k] << std::endl;
            moveit_warehouse::RobotStateWithMetadata robotState;
            rss.getRobotState(robotState, robotStateNames[k]);
            robot_state::RobotState ks(km);
            robot_state::robotStateMsgToRobotState(*robotState, ks, false);
            ks.printStateInfo(qfout);
            qfout << "." << std::endl;
          }
        }

        if(constraintNames.size())
        {
          qfout << "goal" << std::endl;
          qfout << constraintNames.size() << std::endl;
          for(std::size_t k = 0; k < constraintNames.size(); ++k)
          {
            ROS_INFO("Saving goal %s for scene %s", constraintNames[k].c_str(), scene_names[i].c_str());
            qfout << "link_constraint" << std::endl;
            qfout << constraintNames[k] << std::endl;
            moveit_warehouse::ConstraintsWithMetadata constraints;
            cs.getConstraints(constraints, constraintNames[k]);

            LinkConstraintMap lcmap;
            collectLinkConstraints(*constraints, lcmap);
            for(LinkConstraintMap::iterator iter = lcmap.begin(); iter != lcmap.end(); iter++)
            {
              std::string link_name = iter->first;
              LinkConstraintPair lcp = iter->second;
              qfout << link_name << std::endl;
              qfout << "xyz " << lcp.first.x << " " << lcp.first.y << " " << lcp.first.z << std::endl;
              Eigen::Quaterniond orientation(lcp.second.w, lcp.second.x, lcp.second.y, lcp.second.z);
              Eigen::Vector3d rpy = orientation.matrix().eulerAngles(0, 1, 2);
              qfout << "rpy " << rpy[0] << " " << rpy[1] << " " << rpy[2] << std::endl;

            }
            qfout << "." << std::endl;
          }
        }
        qfout.close();
      }
    }


  }

  ROS_INFO("Done.");

  return 0;
}