constraint_sampler_tools.cpp

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/* Author: Ioan Sucan */

#include <moveit/constraint_samplers/constraint_sampler_tools.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>

void constraint_samplers::visualizeDistribution(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group,
                                                const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
{
  visualizeDistribution(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState(), link_name, sample_count, markers);
}


double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group)
{
  return countSamplesPerSecond(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState());
}

double constraint_samplers::countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state)
{
  if (!sampler)
  {
    logError("No sampler specified for counting samples per second");
    return 0.0;
  }
  robot_state::RobotState ks(reference_state);
  unsigned long int valid = 0;
  unsigned long int total = 0;
  ros::WallTime end = ros::WallTime::now() + ros::WallDuration(1.0);
  do
  {
    static const unsigned int n = 10;
    total += n;
    for (unsigned int i = 0 ; i < n ; ++i)
    {
      if (sampler->sample(ks.getJointStateGroup(sampler->getGroupName()), ks, 1))
        valid++;
    }
  }
  while (ros::WallTime::now() < end);
  return (double)valid / (double)total;
}

void constraint_samplers::visualizeDistribution(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state,
                                                const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
{
  if (!sampler)
  {
    logError("No sampler specified for visualizing distribution of samples");
    return;
  }

  robot_state::RobotState ks(reference_state);
  std_msgs::ColorRGBA color;
  color.r = 1.0f;
  color.g = 0.0f;
  color.b = 0.0f;
  color.a = 1.0f;
  for (unsigned int i = 0 ; i < sample_count ; ++i)
  {
    if (!sampler->sample(ks.getJointStateGroup(sampler->getGroupName()), ks))
      continue;
    const robot_state::LinkState *ls = ks.getLinkState(link_name);
    if (ls)
    {
      const Eigen::Vector3d &pos = ls->getGlobalLinkTransform().translation();
      visualization_msgs::Marker mk;
      mk.header.stamp = ros::Time::now();
      mk.header.frame_id = sampler->getJointModelGroup()->getParentModel()->getModelFrame();
      mk.ns = "constraint_samples";
      mk.id = i;
      mk.type = visualization_msgs::Marker::SPHERE;
      mk.action = visualization_msgs::Marker::ADD;
      mk.pose.position.x = pos.x();
      mk.pose.position.y = pos.y();
      mk.pose.position.z = pos.z();
      mk.pose.orientation.w = 1.0;
      mk.scale.x = mk.scale.y = mk.scale.z = 0.035;
      mk.color = color;
      mk.lifetime = ros::Duration(30.0);
      markers.markers.push_back(mk);
    }
    else
      break;
  }
}