robot_trajectory.h

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/* 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/robot_state/robot_state.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit_msgs/RobotState.h>
#include <deque>

namespace robot_trajectory
{
MOVEIT_CLASS_FORWARD(RobotTrajectory);  // Defines RobotTrajectoryPtr, ConstPtr, WeakPtr... etc

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;

  [[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 getDuration() const;

  double getAverageSegmentDuration() const;

  void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory,
                             const std::vector<std::string>& joint_filter = std::vector<std::string>()) 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_;
};
}  // namespace robot_trajectory

#endif