robot_trajectory.h

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/* Author: Ioan Sucan, Adam Leeper */
 
#pragma once
 
#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>
#include <memory>
 
namespace robot_trajectory
{
MOVEIT_CLASS_FORWARD(RobotTrajectory);  // Defines RobotTrajectoryPtr, ConstPtr, WeakPtr... etc
 
class RobotTrajectory
{
public:
  explicit RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model);
 
  RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group);
 
  RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const moveit::core::JointModelGroup* group);
 
  RobotTrajectory& operator=(const RobotTrajectory&) = default;
 
  RobotTrajectory(const RobotTrajectory& other, bool deepcopy = false);
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  const moveit::core::JointModelGroup* getGroup() const
  {
    return group_;
  }
 
  const std::string& getGroupName() const;
 
  RobotTrajectory& setGroupName(const std::string& group_name)
  {
    group_ = robot_model_->getJointModelGroup(group_name);
    return *this;
  }
 
  std::size_t getWayPointCount() const
  {
    return waypoints_.size();
  }
 
  const moveit::core::RobotState& getWayPoint(std::size_t index) const
  {
    return *waypoints_[index];
  }
 
  const moveit::core::RobotState& getLastWayPoint() const
  {
    return *waypoints_.back();
  }
 
  const moveit::core::RobotState& getFirstWayPoint() const
  {
    return *waypoints_.front();
  }
 
  moveit::core::RobotStatePtr& getWayPointPtr(std::size_t index)
  {
    return waypoints_[index];
  }
 
  moveit::core::RobotStatePtr& getLastWayPointPtr()
  {
    return waypoints_.back();
  }
 
  moveit::core::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;
  }
 
  RobotTrajectory& 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;
    return *this;
  }
 
  bool empty() const
  {
    return waypoints_.empty();
  }
 
  RobotTrajectory& addSuffixWayPoint(const moveit::core::RobotState& state, double dt)
  {
    return addSuffixWayPoint(std::make_shared<moveit::core::RobotState>(state), dt);
  }
 
  RobotTrajectory& addSuffixWayPoint(const moveit::core::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.push_back(state);
    duration_from_previous_.push_back(dt);
    return *this;
  }
 
  RobotTrajectory& addPrefixWayPoint(const moveit::core::RobotState& state, double dt)
  {
    return addPrefixWayPoint(std::make_shared<moveit::core::RobotState>(state), dt);
  }
 
  RobotTrajectory& addPrefixWayPoint(const moveit::core::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.push_front(state);
    duration_from_previous_.push_front(dt);
    return *this;
  }
 
  RobotTrajectory& insertWayPoint(std::size_t index, const moveit::core::RobotState& state, double dt)
  {
    return insertWayPoint(index, std::make_shared<moveit::core::RobotState>(state), dt);
  }
 
  RobotTrajectory& insertWayPoint(std::size_t index, const moveit::core::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.insert(waypoints_.begin() + index, state);
    duration_from_previous_.insert(duration_from_previous_.begin() + index, dt);
    return *this;
  }
 
  RobotTrajectory& 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);
 
  RobotTrajectory& clear()
  {
    waypoints_.clear();
    duration_from_previous_.clear();
    return *this;
  }
 
  double getDuration() const;
 
  double getAverageSegmentDuration() const;
 
  void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory,
                             const std::vector<std::string>& joint_filter = std::vector<std::string>()) const;
 
  RobotTrajectory& setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                         const trajectory_msgs::JointTrajectory& trajectory);
 
  RobotTrajectory& setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                         const moveit_msgs::RobotTrajectory& trajectory);
 
  RobotTrajectory& setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                         const moveit_msgs::RobotState& state,
                                         const moveit_msgs::RobotTrajectory& trajectory);
 
  RobotTrajectory& reverse();
 
  RobotTrajectory& unwind();
  RobotTrajectory& unwind(const moveit::core::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, moveit::core::RobotStatePtr& output_state) const;
 
private:
  moveit::core::RobotModelConstPtr robot_model_;
  const moveit::core::JointModelGroup* group_;
  std::deque<moveit::core::RobotStatePtr> waypoints_;
  std::deque<double> duration_from_previous_;
};
 
[[nodiscard]] double path_length(RobotTrajectory const& trajectory);
}  // namespace robot_trajectory