chomp_trajectory.h

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/* Author: Mrinal Kalakrishnan */

#ifndef CHOMP_TRAJECTORY_H_
#define CHOMP_TRAJECTORY_H_

#include <trajectory_msgs/JointTrajectory.h>
#include <moveit/robot_model/robot_model.h>
#include <chomp_motion_planner/chomp_utils.h>

#include <moveit_msgs/MotionPlanDetailedResponse.h>
#include <moveit_msgs/MotionPlanRequest.h>

#include <vector>
#include <eigen3/Eigen/Core>

namespace chomp
{
class ChompTrajectory
{
public:
  ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_model, double duration, double discretization,
                  std::string groupName);

  ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_model, int num_points, double discretization,
                  std::string groupName);

  ChompTrajectory(const ChompTrajectory& source_traj, const std::string& planning_group, int diff_rule_length);

  ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& planning_group,
                  const trajectory_msgs::JointTrajectory& traj);

  virtual ~ChompTrajectory();

  double& operator()(int traj_point, int joint);

  double operator()(int traj_point, int joint) const;

  Eigen::MatrixXd::RowXpr getTrajectoryPoint(int traj_point);

  Eigen::MatrixXd::ColXpr getJointTrajectory(int joint);

  void overwriteTrajectory(const trajectory_msgs::JointTrajectory& traj);

  int getNumPoints() const;

  int getNumFreePoints() const;

  int getNumJoints() const;

  double getDiscretization() const;

  void fillInMinJerk();

  void fillInLinearInterpolation();

  void fillInCubicInterpolation();

  bool fillInFromTrajectory(moveit_msgs::MotionPlanDetailedResponse& res);

  void assignCHOMPTrajectoryPointFromInputTrajectoryPoint(moveit_msgs::RobotTrajectory trajectory_msg,
                                                          int num_joints_trajectory, int trajectory_msgs_point,
                                                          int chomp_trajectory_point);

  void setStartEndIndex(int start_index, int end_index);

  int getStartIndex() const;

  int getEndIndex() const;

  Eigen::MatrixXd& getTrajectory();

  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> getFreeTrajectoryBlock();

  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> getFreeJointTrajectoryBlock(int joint);

  void updateFromGroupTrajectory(const ChompTrajectory& group_trajectory);

  int getFullTrajectoryIndex(int i) const;

  template <typename Derived>
  void getJointVelocities(int traj_point, Eigen::MatrixBase<Derived>& velocities);

  double getDuration() const;

private:
  void init(); 
  std::string planning_group_name_; 
  int num_points_;                  
  int num_joints_;                  
  double discretization_;           
  double duration_;                 
  Eigen::MatrixXd trajectory_;      
  int start_index_; 
  int end_index_; 
  std::vector<int> full_trajectory_index_; 
};


inline double& ChompTrajectory::operator()(int traj_point, int joint)
{
  return trajectory_(traj_point, joint);
}

inline double ChompTrajectory::operator()(int traj_point, int joint) const
{
  return trajectory_(traj_point, joint);
}

inline Eigen::MatrixXd::RowXpr ChompTrajectory::getTrajectoryPoint(int traj_point)
{
  return trajectory_.row(traj_point);
}

inline Eigen::MatrixXd::ColXpr ChompTrajectory::getJointTrajectory(int joint)
{
  return trajectory_.col(joint);
}

inline int ChompTrajectory::getNumPoints() const
{
  return num_points_;
}

inline int ChompTrajectory::getNumFreePoints() const
{
  return (end_index_ - start_index_) + 1;
}

inline int ChompTrajectory::getNumJoints() const
{
  return num_joints_;
}

inline double ChompTrajectory::getDiscretization() const
{
  return discretization_;
}

inline void ChompTrajectory::setStartEndIndex(int start_index, int end_index)
{
  start_index_ = start_index;
  end_index_ = end_index;
}

inline int ChompTrajectory::getStartIndex() const
{
  return start_index_;
}

inline int ChompTrajectory::getEndIndex() const
{
  return end_index_;
}

inline Eigen::MatrixXd& ChompTrajectory::getTrajectory()
{
  return trajectory_;
}

inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> ChompTrajectory::getFreeTrajectoryBlock()
{
  return trajectory_.block(start_index_, 0, getNumFreePoints(), getNumJoints());
}

inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic>
ChompTrajectory::getFreeJointTrajectoryBlock(int joint)
{
  return trajectory_.block(start_index_, joint, getNumFreePoints(), 1);
}

inline int ChompTrajectory::getFullTrajectoryIndex(int i) const
{
  return full_trajectory_index_[i];
}

template <typename Derived>
void ChompTrajectory::getJointVelocities(int traj_point, Eigen::MatrixBase<Derived>& velocities)
{
  velocities.setZero();
  double invTime = 1.0 / discretization_;

  for (int k = -DIFF_RULE_LENGTH / 2; k <= DIFF_RULE_LENGTH / 2; k++)
  {
    velocities += (invTime * DIFF_RULES[0][k + DIFF_RULE_LENGTH / 2]) * trajectory_.row(traj_point + k).transpose();
  }
}

inline double ChompTrajectory::getDuration() const
{
  return duration_;
}
}

#endif /* CHOMP_TRAJECTORY_H_ */