planner.cpp

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//
// Copyright (c) 2018, University of Edinburgh
// 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  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
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#include <exotica_core/exotica_core.h>
#include <ros/ros.h>
 
using namespace exotica;
 
void run()
{
    Server::InitRos(std::shared_ptr<ros::NodeHandle>(new ros::NodeHandle("~")));
 
    Initializer solver_initializer, problem_initializer;
 
    std::string file_name;
    Server::GetParam("ConfigurationFile", file_name);
 
    XMLLoader::Load(file_name, solver_initializer, problem_initializer);
 
    HIGHLIGHT_NAMED("XMLnode", "Loaded from XML");
 
    // Initialize
 
    PlanningProblemPtr any_problem = Setup::CreateProblem(problem_initializer);
    MotionSolverPtr any_solver = Setup::CreateSolver(solver_initializer);
 
    // Assign the problem to the solver
    any_solver->SpecifyProblem(any_problem);
 
    // If necessary, modify the problem after calling sol->SpecifyProblem()
    // e.g. set different rho:
 
    if (any_problem->type() == "exotica::UnconstrainedTimeIndexedProblem")
    {
        UnconstrainedTimeIndexedProblemPtr problem = std::static_pointer_cast<UnconstrainedTimeIndexedProblem>(any_problem);
        for (int t = 0; t < problem->GetT() - 1; ++t)
        {
            // This sets the precision of all time steps BUT the last one to zero
            // This means we only aim to minimize the task cost in the last time step
            // The rest of the trajectory minimizes the control cost
            problem->cost.SetRho("Frame", 0.0, t);
        }
        problem->cost.SetRho("Frame", 1e3, -1);
    }
 
    // Create the initial configuration
    HIGHLIGHT("Calling solve()");
    {
        // Solve the problem using the AICO solver
        Eigen::MatrixXd solution;
        any_solver->Solve(solution);
 
        ros::Rate loop_rate(50.0);
        int t = 0;
        int PlaybackWaitInterval = 30;
        while (ros::ok())
        {
            int i = 1;
            if (t == 0 || t == solution.rows() - 1) i = PlaybackWaitInterval;
            while (i-- > 0)
            {
                any_problem->GetScene()->Update(solution.row(t).transpose());
                any_problem->GetScene()->GetKinematicTree().PublishFrames();
 
                ros::spinOnce();
                loop_rate.sleep();
            }
            t = t + 1 >= solution.rows() ? 0 : t + 1;
        }
    }
 
    // All classes will be destroyed at this point.
}
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "example_cpp_planner_node");
    HIGHLIGHT("Started");
 
    // Run demo code
    run();
 
    // Clean up
    // Run this only after all the exotica classes have been disposed of!
    Setup::Destroy();
}