fix_start_state_bounds.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <boost/math/constants/constants.hpp>
#include <moveit/trajectory_processing/trajectory_tools.h>
#include <moveit/robot_state/conversions.h>
#include <class_loader/class_loader.h>
#include <ros/ros.h>

namespace default_planner_request_adapters
{

class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdapter
{
public:

  static const std::string BOUNDS_PARAM_NAME;
  static const std::string DT_PARAM_NAME;

  FixStartStateBounds() : planning_request_adapter::PlanningRequestAdapter(), nh_("~")
  {
    if (!nh_.getParam(BOUNDS_PARAM_NAME, bounds_dist_))
    {
      bounds_dist_ = 0.05;
      ROS_INFO_STREAM("Param '" << BOUNDS_PARAM_NAME << "' was not set. Using default value: " << bounds_dist_);
    }
    else
      ROS_INFO_STREAM("Param '" << BOUNDS_PARAM_NAME << "' was set to " << bounds_dist_);

    if (!nh_.getParam(DT_PARAM_NAME, max_dt_offset_))
    {
      max_dt_offset_ = 0.5;
      ROS_INFO_STREAM("Param '" << DT_PARAM_NAME << "' was not set. Using default value: " << max_dt_offset_);
    }
    else
      ROS_INFO_STREAM("Param '" << DT_PARAM_NAME << "' was set to " << max_dt_offset_);
  }

  virtual std::string getDescription() const { return "Fix Start State Bounds"; }


  virtual 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
  {
    ROS_DEBUG("Running '%s'", getDescription().c_str());

    // get the specified start state
    robot_state::RobotState start_state = planning_scene->getCurrentState();
    robot_state::robotStateMsgToRobotState(planning_scene->getTransforms(), req.start_state, start_state);

    const std::vector<const robot_model::JointModel*> &jmodels =
      planning_scene->getRobotModel()->hasJointModelGroup(req.group_name) ?
      planning_scene->getRobotModel()->getJointModelGroup(req.group_name)->getJointModels() : 
      planning_scene->getRobotModel()->getJointModels();
    
    bool change_req = false;
    for (std::size_t i = 0 ; i < jmodels.size() ; ++i)
    {
      // Check if we have a revolute, continuous joint. If we do, then we only need to make sure
      // it is within de model's declared bounds (usually -Pi, Pi), since the values wrap around.
      // It is possible that the encoder maintains values outside the range [-Pi, Pi], to inform
      // how many times the joint was wrapped. Because of this, we remember the offsets for continuous
      // joints, and we un-do them when the plan comes from the planner

      const robot_model::JointModel* jm = jmodels[i];
      if (jm->getType() == robot_model::JointModel::REVOLUTE)
      {
        if (static_cast<const robot_model::RevoluteJointModel*>(jm)->isContinuous())
        {
          double initial = start_state.getJointPositions(jm)[0];
          start_state.enforceBounds(jm);
          double after = start_state.getJointPositions(jm)[0];
          if (fabs(initial - after) > std::numeric_limits<double>::epsilon())
            change_req = true;
        }
      }
      else
        // Normalize yaw; no offset needs to be remembered
        if (jm->getType() == robot_model::JointModel::PLANAR)
        {
          const double *p = start_state.getJointPositions(jm);
          double copy[3] = {p[0], p[1], p[2]};
          if (static_cast<const robot_model::PlanarJointModel*>(jm)->normalizeRotation(copy))
          {
            start_state.setJointPositions(jm, copy);
            change_req = true;
          }
        }
        else
          // Normalize quaternions
          if (jm->getType() == robot_model::JointModel::FLOATING)
          {
            const double *p = start_state.getJointPositions(jm);
            double copy[7] = {p[0], p[1], p[2], p[3], p[4], p[5], p[6]};
            if (static_cast<const robot_model::FloatingJointModel*>(jm)->normalizeRotation(copy))
            {
              start_state.setJointPositions(jm, copy);
              change_req = true;
            }
          }
    }

    // pointer to a prefix state we could possibly add, if we detect we have to make changes
    robot_state::RobotStatePtr prefix_state;
    for (std::size_t i = 0 ; i < jmodels.size() ; ++i)
    {
      if (!start_state.satisfiesBounds(jmodels[i]))
      {
        if (start_state.satisfiesBounds(jmodels[i], bounds_dist_))
        {
          if (!prefix_state)
            prefix_state.reset(new robot_state::RobotState(start_state));
          start_state.enforceBounds(jmodels[i]);
          change_req = true;
          ROS_INFO("Starting state is just outside bounds (joint '%s'). Assuming within bounds.", jmodels[i]->getName().c_str());
        }
        else
        {
          std::stringstream joint_values;
          std::stringstream joint_bounds_low;
          std::stringstream joint_bounds_hi;
          const double *p = start_state.getJointPositions(jmodels[i]);
          for (std::size_t k = 0 ; k < jmodels[i]->getVariableCount() ; ++k)
            joint_values << p[k] << " ";
          const robot_model::JointModel::Bounds &b = jmodels[i]->getVariableBounds();
          for (std::size_t k = 0 ; k < b.size() ; ++k)
          {
            joint_bounds_low << b[k].min_position_ << " ";
            joint_bounds_hi << b[k].max_position_ << " ";
          }
          ROS_WARN_STREAM("Joint '" << jmodels[i]->getName() << "' from the starting state is outside bounds by a significant margin: [ " << joint_values.str() << "] should be in the range [ " << joint_bounds_low.str() <<
                          "], [ " << joint_bounds_hi.str() << "] but the error above the ~" << BOUNDS_PARAM_NAME << " parameter (currently set to " << bounds_dist_ << ")");
        }
      }
    }

    bool solved;
    // if we made any changes, use them
    if (change_req)
    {
      planning_interface::MotionPlanRequest req2 = req;
      robot_state::robotStateToRobotStateMsg(start_state, req2.start_state, false);
      solved = planner(planning_scene, req2, res);
    }
    else
      solved = planner(planning_scene, req, res);

    // re-add the prefix state, if it was constructed
    if (prefix_state && res.trajectory_ && !res.trajectory_->empty())
    {
      // heuristically decide a duration offset for the trajectory (induced by the additional point added as a prefix to the computed trajectory)
      res.trajectory_->setWayPointDurationFromPrevious(0, std::min(max_dt_offset_, res.trajectory_->getAverageSegmentDuration()));
      res.trajectory_->addPrefixWayPoint(prefix_state, 0.0);
      // we add a prefix point, so we need to bump any previously added index positions
      for (std::size_t i = 0 ; i < added_path_index.size() ; ++i)
        added_path_index[i]++;
      added_path_index.push_back(0);
    }

    return solved;
  }

private:

  ros::NodeHandle nh_;
  double bounds_dist_;
  double max_dt_offset_;
};


const std::string FixStartStateBounds::BOUNDS_PARAM_NAME = "start_state_max_bounds_error";
const std::string FixStartStateBounds::DT_PARAM_NAME = "start_state_max_dt";

}

CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::FixStartStateBounds,
                            planning_request_adapter::PlanningRequestAdapter);