robot_trajectory.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan, Adam Leeper */

#ifndef MOVEIT_ROBOT_TRAJECTORY_KINEMATIC_TRAJECTORY_
#define MOVEIT_ROBOT_TRAJECTORY_KINEMATIC_TRAJECTORY_

#include <moveit/macros/class_forward.h>
#include <moveit/macros/deprecation.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit_msgs/RobotState.h>
#include <deque>

namespace robot_trajectory
{
MOVEIT_CLASS_FORWARD(RobotTrajectory);

class RobotTrajectory
{
public:
  RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const std::string& group);

  RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const robot_model::JointModelGroup* group);

  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }

  const robot_model::JointModelGroup* getGroup() const
  {
    return group_;
  }

  const std::string& getGroupName() const;

  void setGroupName(const std::string& group_name);

  std::size_t getWayPointCount() const
  {
    return waypoints_.size();
  }

  const robot_state::RobotState& getWayPoint(std::size_t index) const
  {
    return *waypoints_[index];
  }

  const robot_state::RobotState& getLastWayPoint() const
  {
    return *waypoints_.back();
  }

  const robot_state::RobotState& getFirstWayPoint() const
  {
    return *waypoints_.front();
  }

  robot_state::RobotStatePtr& getWayPointPtr(std::size_t index)
  {
    return waypoints_[index];
  }

  robot_state::RobotStatePtr& getLastWayPointPtr()
  {
    return waypoints_.back();
  }

  robot_state::RobotStatePtr& getFirstWayPointPtr()
  {
    return waypoints_.front();
  }

  const std::deque<double>& getWayPointDurations() const
  {
    return duration_from_previous_;
  }

  double getWayPointDurationFromStart(std::size_t index) const;

  MOVEIT_DEPRECATED double getWaypointDurationFromStart(std::size_t index) const;

  double getWayPointDurationFromPrevious(std::size_t index) const
  {
    if (duration_from_previous_.size() > index)
      return duration_from_previous_[index];
    else
      return 0.0;
  }

  void setWayPointDurationFromPrevious(std::size_t index, double value)
  {
    if (duration_from_previous_.size() <= index)
      duration_from_previous_.resize(index + 1, 0.0);
    duration_from_previous_[index] = value;
  }

  bool empty() const
  {
    return waypoints_.empty();
  }

  void addSuffixWayPoint(const robot_state::RobotState& state, double dt)
  {
    addSuffixWayPoint(robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
  }

  void addSuffixWayPoint(const robot_state::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.push_back(state);
    duration_from_previous_.push_back(dt);
  }

  void addPrefixWayPoint(const robot_state::RobotState& state, double dt)
  {
    addPrefixWayPoint(robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
  }

  void addPrefixWayPoint(const robot_state::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.push_front(state);
    duration_from_previous_.push_front(dt);
  }

  void insertWayPoint(std::size_t index, const robot_state::RobotState& state, double dt)
  {
    insertWayPoint(index, robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
  }

  void insertWayPoint(std::size_t index, const robot_state::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.insert(waypoints_.begin() + index, state);
    duration_from_previous_.insert(duration_from_previous_.begin() + index, dt);
  }

  void append(const RobotTrajectory& source, double dt, size_t start_index = 0,
              size_t end_index = std::numeric_limits<std::size_t>::max());

  void swap(robot_trajectory::RobotTrajectory& other);

  void clear();

  double getAverageSegmentDuration() const;

  void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory) const;

  void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
                             const trajectory_msgs::JointTrajectory& trajectory);

  void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
                             const moveit_msgs::RobotTrajectory& trajectory);

  void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state, const moveit_msgs::RobotState& state,
                             const moveit_msgs::RobotTrajectory& trajectory);

  void reverse();

  void unwind();
  void unwind(const robot_state::RobotState& state);

  void findWayPointIndicesForDurationAfterStart(const double& duration, int& before, int& after, double& blend) const;

  // TODO support visitor function for interpolation, or at least different types.
  bool getStateAtDurationFromStart(const double request_duration, robot_state::RobotStatePtr& output_state) const;

private:
  robot_model::RobotModelConstPtr robot_model_;
  const robot_model::JointModelGroup* group_;
  std::deque<robot_state::RobotStatePtr> waypoints_;
  std::deque<double> duration_from_previous_;
};
}

#endif