jog_calcs.h

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/*******************************************************************************
 *      Title     : jog_calcs.h
 *      Project   : moveit_jog_arm
 *      Created   : 1/11/2019
 *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson
 *
 * BSD 3-Clause License
 *
 * Copyright (c) 2019, Los Alamos National Security, LLC
 * 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 the copyright holder 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"
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 * ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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*******************************************************************************/

#pragma once

// System
#include <atomic>

// ROS
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <std_msgs/Int8.h>

// moveit_jog_arm
#include "jog_arm_data.h"
#include "low_pass_filter.h"
#include "status_codes.h"

namespace moveit_jog_arm
{
class JogCalcs
{
public:
  JogCalcs(const JogArmParameters& parameters, const robot_model_loader::RobotModelLoaderPtr& model_loader_ptr);

  void startMainLoop(JogArmShared& shared_variables);

  bool isInitialized();

protected:
  ros::NodeHandle nh_;

  // Flag that robot state is up to date, end effector transform is known
  std::atomic<bool> is_initialized_;

  bool cartesianJogCalcs(geometry_msgs::TwistStamped& cmd, JogArmShared& shared_variables);

  bool jointJogCalcs(const control_msgs::JointJog& cmd, JogArmShared& shared_variables);

  void updateCachedStatus(JogArmShared& shared_variables);

  bool updateJoints(JogArmShared& shared_variables);

  Eigen::VectorXd scaleCartesianCommand(const geometry_msgs::TwistStamped& command) const;

  Eigen::VectorXd scaleJointCommand(const control_msgs::JointJog& command) const;

  bool addJointIncrements(sensor_msgs::JointState& output, const Eigen::VectorXd& increments) const;

  void suddenHalt(trajectory_msgs::JointTrajectory& joint_traj);
  void suddenHalt(Eigen::ArrayXd& delta_theta);

  void publishStatus() const;

  void enforceSRDFAccelVelLimits(Eigen::ArrayXd& delta_theta);

  bool enforceSRDFPositionLimits(trajectory_msgs::JointTrajectory& new_joint_traj);

  double velocityScalingFactorForSingularity(const Eigen::VectorXd& commanded_velocity,
                                             const Eigen::JacobiSVD<Eigen::MatrixXd>& svd,
                                             const Eigen::MatrixXd& jacobian, const Eigen::MatrixXd& pseudo_inverse);

  void applyVelocityScaling(JogArmShared& shared_variables, Eigen::ArrayXd& delta_theta, double singularity_scale);

  trajectory_msgs::JointTrajectory composeJointTrajMessage(sensor_msgs::JointState& joint_state) const;

  void lowPassFilterPositions(sensor_msgs::JointState& joint_state);

  void calculateJointVelocities(sensor_msgs::JointState& joint_state, const Eigen::ArrayXd& delta_theta);

  bool convertDeltasToOutgoingCmd();

  void insertRedundantPointsIntoTrajectory(trajectory_msgs::JointTrajectory& trajectory, int count) const;

  void removeDimension(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x, unsigned int row_to_remove);

  const moveit::core::JointModelGroup* joint_model_group_;

  moveit::core::RobotStatePtr kinematic_state_;

  // incoming_joint_state_ is the incoming message. It may contain passive joints or other joints we don't care about.
  // internal_joint_state_ is used in jog calculations. It shouldn't be relied on to be accurate.
  // original_joint_state_ is the same as incoming_joint_state_ except it only contains the joints jog_arm acts on.
  sensor_msgs::JointState incoming_joint_state_, internal_joint_state_, original_joint_state_;
  std::map<std::string, std::size_t> joint_state_name_map_;
  trajectory_msgs::JointTrajectory outgoing_command_;

  std::vector<LowPassFilter> position_filters_;

  ros::Publisher status_pub_;

  StatusCode status_ = NO_WARNING;

  JogArmParameters parameters_;

  // Use ArrayXd type to enable more coefficient-wise operations
  Eigen::ArrayXd delta_theta_;
  Eigen::ArrayXd prev_joint_velocity_;

  Eigen::Isometry3d tf_moveit_to_cmd_frame_;

  const int gazebo_redundant_message_count_ = 30;

  uint num_joints_;

  ros::Rate default_sleep_rate_;
};
}  // namespace moveit_jog_arm