chomp_trajectory.h

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#ifndef CHOMP_TRAJECTORY_H_
#define CHOMP_TRAJECTORY_H_

#include <trajectory_msgs/JointTrajectory.h>
#include <planning_models/kinematic_model.h>
#include <chomp_motion_planner/chomp_utils.h>

#include <vector>
#include <eigen3/Eigen/Core>

namespace chomp
{

class ChompTrajectory
{
public:
  ChompTrajectory(const planning_models::KinematicModel* robot_model, double duration, double discretization, std::string groupName);

  ChompTrajectory(const planning_models::KinematicModel* robot_model, int num_points, double discretization, std::string groupName);

  ChompTrajectory(const ChompTrajectory& source_traj, const std::string& planning_group, int diff_rule_length);

  ChompTrajectory(const planning_models::KinematicModel* robot_model,
                  const std::string& planning_group,
                  const trajectory_msgs::JointTrajectory& traj);

  virtual ~ChompTrajectory();

  double& operator() (int traj_point, int joint);

  double operator() (int traj_point, int joint) const;

  Eigen::MatrixXd::RowXpr getTrajectoryPoint(int traj_point);


  Eigen::MatrixXd::ColXpr getJointTrajectory(int joint);

  void overwriteTrajectory(const trajectory_msgs::JointTrajectory& traj);

  int getNumPoints() const;

  int getNumFreePoints() const;

  int getNumJoints() const;

  double getDiscretization() const;

  void fillInMinJerk();

  void setStartEndIndex(int start_index, int end_index);

  int getStartIndex() const;

  int getEndIndex() const;

  Eigen::MatrixXd& getTrajectory();

  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic>  getFreeTrajectoryBlock();

  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> getFreeJointTrajectoryBlock(int joint);

  void updateFromGroupTrajectory(const ChompTrajectory& group_trajectory);

  int getFullTrajectoryIndex(int i) const;

  template <typename Derived>
  void getJointVelocities(int traj_point, Eigen::MatrixBase<Derived>& velocities);

  double getDuration() const;

private:

  void init();                                          
  std::string planning_group_name_;    
  int num_points_;                                      
  int num_joints_;                                      
  double discretization_;                               
  double duration_;                                     
  Eigen::MatrixXd trajectory_;                          
  int start_index_;                                     
  int end_index_;                                       
  std::vector<int> full_trajectory_index_;              
};


inline double& ChompTrajectory::operator() (int traj_point, int joint)
{
  return trajectory_(traj_point, joint);
}

inline double ChompTrajectory::operator() (int traj_point, int joint) const
{
  return trajectory_(traj_point, joint);
}

inline Eigen::MatrixXd::RowXpr ChompTrajectory::getTrajectoryPoint(int traj_point)
{
  return trajectory_.row(traj_point);
}

inline Eigen::MatrixXd::ColXpr ChompTrajectory::getJointTrajectory(int joint)
{
  return trajectory_.col(joint);
}

inline int ChompTrajectory::getNumPoints() const
{
  return num_points_;
}

inline int ChompTrajectory::getNumFreePoints() const
{
  return (end_index_ - start_index_)+1;
}

inline int ChompTrajectory::getNumJoints() const
{
  return num_joints_;
}

inline double ChompTrajectory::getDiscretization() const
{
  return discretization_;
}

inline void ChompTrajectory::setStartEndIndex(int start_index, int end_index)
{
  start_index_ = start_index;
  end_index_ = end_index;
}

inline int ChompTrajectory::getStartIndex() const
{
  return start_index_;
}

inline int ChompTrajectory::getEndIndex() const
{
  return end_index_;
}

inline Eigen::MatrixXd& ChompTrajectory::getTrajectory()
{
  return trajectory_;
}

inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> ChompTrajectory::getFreeTrajectoryBlock()
{
  return trajectory_.block(start_index_, 0, getNumFreePoints(), getNumJoints());
}

inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> ChompTrajectory::getFreeJointTrajectoryBlock(int joint)
{
  return trajectory_.block(start_index_, joint, getNumFreePoints(), 1);
}

inline int ChompTrajectory::getFullTrajectoryIndex(int i) const
{
  return full_trajectory_index_[i];
}

template <typename Derived>
void ChompTrajectory::getJointVelocities(int traj_point, Eigen::MatrixBase<Derived>& velocities)
{
  velocities.setZero();
  double invTime = 1.0 / discretization_;

  for (int k=-DIFF_RULE_LENGTH/2; k<=DIFF_RULE_LENGTH/2; k++)
  {
    velocities += (invTime * DIFF_RULES[0][k+DIFF_RULE_LENGTH/2]) * trajectory_.row(traj_point+k).transpose();
  }
}

inline double ChompTrajectory::getDuration() const {
  return duration_;
}


}

#endif /* CHOMP_TRAJECTORY_H_ */