hold_trajectory_builder.h

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// Copyright (C) 2013, PAL Robotics S.L.
// Copyright (c) 2008, Willow Garage, Inc.
//
// 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 PAL Robotics S.L. 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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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef HOLD_TRAJECTORY_BUILDER_H
#define HOLD_TRAJECTORY_BUILDER_H
 
#include <vector>
 
#include <joint_trajectory_controller/trajectory_builder.h>
 
namespace joint_trajectory_controller
{
 
template<class SegmentImpl, class HardwareInterface>
class HoldTrajectoryBuilder : public TrajectoryBuilder<SegmentImpl>
{
private:
  using Segment               = JointTrajectorySegment<SegmentImpl>;
  using TrajectoryPerJoint    = std::vector<Segment>;
  using Trajectory            = std::vector<TrajectoryPerJoint>;
 
  using RealtimeGoalHandle    = realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction>;
  using RealtimeGoalHandlePtr = boost::shared_ptr<RealtimeGoalHandle>;
 
  using JointHandle = typename HardwareInterface::ResourceHandleType;
 
public:
  HoldTrajectoryBuilder(const std::vector<JointHandle>&  joints);
 
public:
  bool buildTrajectory(Trajectory* hold_traj) override;
 
private:
  const std::vector<JointHandle>&  joints_;
 
private: //Pre-allocated memory for real time usage of build function
  typename Segment::State hold_start_state_ {typename Segment::State(1)};
  typename Segment::State hold_end_state_   {typename Segment::State(1)};
 
};
 
template<class SegmentImpl, class HardwareInterface>
HoldTrajectoryBuilder<SegmentImpl, HardwareInterface>::HoldTrajectoryBuilder(const std::vector<JointHandle>& joints)
  : joints_(joints)
{
 
}
 
template<class SegmentImpl, class HardwareInterface>
bool HoldTrajectoryBuilder<SegmentImpl, HardwareInterface>::buildTrajectory(Trajectory* hold_traj)
{
  if(!TrajectoryBuilder<SegmentImpl>::getStartTime())
  {
    return false;
  }
 
  if(!TrajectoryBuilder<SegmentImpl>::isTrajectoryValid(hold_traj, joints_.size(), 1))
  {
    return false;
  }
 
  const typename Segment::Time start_time {TrajectoryBuilder<SegmentImpl>::getStartTime().value()};
  RealtimeGoalHandlePtr goal_handle {TrajectoryBuilder<SegmentImpl>::createGoalHandlePtr()};
  for (unsigned int joint_index = 0; joint_index < joints_.size(); ++joint_index)
  {
    hold_start_state_.position[0]     =  joints_[joint_index].getPosition();
    hold_start_state_.velocity[0]     =  0.0;
    hold_start_state_.acceleration[0] =  0.0;
 
    Segment& segment {(*hold_traj)[joint_index].front()};
    segment.init(start_time, hold_start_state_,
                 start_time, hold_start_state_);
    segment.setGoalHandle(goal_handle);
  }
  return true;
}
 
}
 
#endif // HOLD_TRAJECTORY_BUILDER_H