ruckig_traj_smoothing.h

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/* Author: Jack Center, Wyatt Rees, Andy Zelenak, Stephanie Eng */
 
#pragma once
 
#include <Eigen/Core>
#include <list>
#include <unordered_map>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <ruckig/ruckig.hpp>
 
namespace trajectory_processing
{
class RuckigSmoothing
{
public:
  static bool applySmoothing(robot_trajectory::RobotTrajectory& trajectory,
                             const double max_velocity_scaling_factor = 1.0,
                             const double max_acceleration_scaling_factor = 1.0, const bool mitigate_overshoot = false,
                             const double overshoot_threshold = 0.01);
 
  static bool applySmoothing(robot_trajectory::RobotTrajectory& trajectory,
                             const std::unordered_map<std::string, double>& velocity_limits,
                             const std::unordered_map<std::string, double>& acceleration_limits,
                             const std::unordered_map<std::string, double>& jerk_limits,
                             const bool mitigate_overshoot = false, const double overshoot_threshold = 0.01);
 
private:
  [[nodiscard]] static bool validateGroup(const robot_trajectory::RobotTrajectory& trajectory);
 
  [[nodiscard]] static bool getRobotModelBounds(const double max_velocity_scaling_factor,
                                                const double max_acceleration_scaling_factor,
                                                moveit::core::JointModelGroup const* const group,
                                                ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input);
 
  static void getNextRuckigInput(const moveit::core::RobotStateConstPtr& current_waypoint,
                                 const moveit::core::RobotStateConstPtr& next_waypoint,
                                 const moveit::core::JointModelGroup* joint_group,
                                 ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input);
 
  static void initializeRuckigState(const moveit::core::RobotState& first_waypoint,
                                    const moveit::core::JointModelGroup* joint_group,
                                    ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input);
 
  static std::optional<robot_trajectory::RobotTrajectory>
  runRuckigInBatches(const robot_trajectory::RobotTrajectory& trajectory,
                     ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input, size_t batch_size = 100);
 
  [[nodiscard]] static bool runRuckig(robot_trajectory::RobotTrajectory& trajectory,
                                      ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input,
                                      const bool mitigate_overshoot = false, const double overshoot_threshold = 0.01);
 
  static void extendTrajectoryDuration(const double duration_extension_factor, size_t num_waypoints,
                                       const size_t num_dof, const std::vector<int>& move_group_idx,
                                       const robot_trajectory::RobotTrajectory& original_trajectory,
                                       robot_trajectory::RobotTrajectory& trajectory);
 
  static bool checkOvershoot(ruckig::Trajectory<ruckig::DynamicDOFs, ruckig::StandardVector>& ruckig_trajectory,
                             const size_t num_dof, ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input,
                             const double overshoot_threshold);
};
}  // namespace trajectory_processing