add_iterative_spline_parameterization.cpp

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 *  Copyright (c) 2012, Willow Garage, Inc.
 *  Copyright (c) 2017, Ken Anderson
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/* Author: Ken Anderson, based off add_time_parameterization.cpp by Ioan Sucan */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/trajectory_processing/iterative_spline_parameterization.h>
#include <class_loader/class_loader.hpp>
#include <ros/console.h>
 
namespace default_planner_request_adapters
{
class AddIterativeSplineParameterization : public planning_request_adapter::PlanningRequestAdapter
{
public:
  AddIterativeSplineParameterization() : planning_request_adapter::PlanningRequestAdapter()
  {
  }
 
  void initialize(const ros::NodeHandle& /*nh*/) override
  {
  }
 
  std::string getDescription() const override
  {
    return "Add Time Parameterization";
  }
 
  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& added_path_index) const override
  {
    bool result = planner(planning_scene, req, res);
    if (result && res.trajectory_)
    {
      ROS_DEBUG("Running '%s'", getDescription().c_str());
      std::size_t trajectory_size_before = res.trajectory_->getWayPointCount();
      if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
                                         req.max_acceleration_scaling_factor))
      {
        ROS_ERROR("Time parametrization for the solution path failed.");
        result = false;
      }
 
      // IterativeSplineParameterization add waypoints after the first and before the last.
      if (trajectory_size_before + 2 == res.trajectory_->getWayPointCount())
      {
        added_path_index.push_back(1);
        added_path_index.push_back(res.trajectory_->getWayPointCount() - 2);
      }
    }
 
    return result;
  }
 
private:
  trajectory_processing::IterativeSplineParameterization time_param_;
};
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddIterativeSplineParameterization,
                            planning_request_adapter::PlanningRequestAdapter);