robot_trajectory.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan, Adam Leeper */
00036 
00037 #ifndef MOVEIT_ROBOT_TRAJECTORY_KINEMATIC_TRAJECTORY_
00038 #define MOVEIT_ROBOT_TRAJECTORY_KINEMATIC_TRAJECTORY_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 #include <moveit_msgs/RobotTrajectory.h>
00043 #include <moveit_msgs/RobotState.h>
00044 #include <deque>
00045 
00046 namespace robot_trajectory
00047 {
00048 MOVEIT_CLASS_FORWARD(RobotTrajectory);
00049 
00052 class RobotTrajectory
00053 {
00054 public:
00055   RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const std::string& group);
00056 
00057   RobotTrajectory(const robot_model::RobotModelConstPtr& robot_model, const robot_model::JointModelGroup* group);
00058 
00059   const robot_model::RobotModelConstPtr& getRobotModel() const
00060   {
00061     return robot_model_;
00062   }
00063 
00064   const robot_model::JointModelGroup* getGroup() const
00065   {
00066     return group_;
00067   }
00068 
00069   const std::string& getGroupName() const;
00070 
00071   void setGroupName(const std::string& group_name);
00072 
00073   std::size_t getWayPointCount() const
00074   {
00075     return waypoints_.size();
00076   }
00077 
00078   const robot_state::RobotState& getWayPoint(std::size_t index) const
00079   {
00080     return *waypoints_[index];
00081   }
00082 
00083   const robot_state::RobotState& getLastWayPoint() const
00084   {
00085     return *waypoints_.back();
00086   }
00087 
00088   const robot_state::RobotState& getFirstWayPoint() const
00089   {
00090     return *waypoints_.front();
00091   }
00092 
00093   robot_state::RobotStatePtr& getWayPointPtr(std::size_t index)
00094   {
00095     return waypoints_[index];
00096   }
00097 
00098   robot_state::RobotStatePtr& getLastWayPointPtr()
00099   {
00100     return waypoints_.back();
00101   }
00102 
00103   robot_state::RobotStatePtr& getFirstWayPointPtr()
00104   {
00105     return waypoints_.front();
00106   }
00107 
00108   const std::deque<double>& getWayPointDurations() const
00109   {
00110     return duration_from_previous_;
00111   }
00112 
00117   double getWaypointDurationFromStart(std::size_t index) const;
00118 
00119   double getWayPointDurationFromPrevious(std::size_t index) const
00120   {
00121     if (duration_from_previous_.size() > index)
00122       return duration_from_previous_[index];
00123     else
00124       return 0.0;
00125   }
00126 
00127   void setWayPointDurationFromPrevious(std::size_t index, double value)
00128   {
00129     if (duration_from_previous_.size() <= index)
00130       duration_from_previous_.resize(index + 1, 0.0);
00131     duration_from_previous_[index] = value;
00132   }
00133 
00134   bool empty() const
00135   {
00136     return waypoints_.empty();
00137   }
00138 
00144   void addSuffixWayPoint(const robot_state::RobotState& state, double dt)
00145   {
00146     addSuffixWayPoint(robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
00147   }
00148 
00154   void addSuffixWayPoint(const robot_state::RobotStatePtr& state, double dt)
00155   {
00156     state->update();
00157     waypoints_.push_back(state);
00158     duration_from_previous_.push_back(dt);
00159   }
00160 
00161   void addPrefixWayPoint(const robot_state::RobotState& state, double dt)
00162   {
00163     addPrefixWayPoint(robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
00164   }
00165 
00166   void addPrefixWayPoint(const robot_state::RobotStatePtr& state, double dt)
00167   {
00168     state->update();
00169     waypoints_.push_front(state);
00170     duration_from_previous_.push_front(dt);
00171   }
00172 
00173   void insertWayPoint(std::size_t index, const robot_state::RobotState& state, double dt)
00174   {
00175     insertWayPoint(index, robot_state::RobotStatePtr(new robot_state::RobotState(state)), dt);
00176   }
00177 
00178   void insertWayPoint(std::size_t index, const robot_state::RobotStatePtr& state, double dt)
00179   {
00180     state->update();
00181     waypoints_.insert(waypoints_.begin() + index, state);
00182     duration_from_previous_.insert(duration_from_previous_.begin() + index, dt);
00183   }
00184 
00190   void append(const RobotTrajectory& source, double dt);
00191 
00192   void swap(robot_trajectory::RobotTrajectory& other);
00193 
00194   void clear();
00195 
00196   double getAverageSegmentDuration() const;
00197 
00198   void getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory& trajectory) const;
00199 
00206   void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
00207                              const trajectory_msgs::JointTrajectory& trajectory);
00208 
00215   void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state,
00216                              const moveit_msgs::RobotTrajectory& trajectory);
00217 
00225   void setRobotTrajectoryMsg(const robot_state::RobotState& reference_state, const moveit_msgs::RobotState& state,
00226                              const moveit_msgs::RobotTrajectory& trajectory);
00227 
00228   void reverse();
00229 
00230   void unwind();
00231   void unwind(const robot_state::RobotState& state);
00232 
00239   void findWayPointIndicesForDurationAfterStart(const double& duration, int& before, int& after, double& blend) const;
00240 
00241   // TODO support visitor function for interpolation, or at least different types.
00248   bool getStateAtDurationFromStart(const double request_duration, robot_state::RobotStatePtr& output_state) const;
00249 
00250 private:
00251   robot_model::RobotModelConstPtr robot_model_;
00252   const robot_model::JointModelGroup* group_;
00253   std::deque<robot_state::RobotStatePtr> waypoints_;
00254   std::deque<double> duration_from_previous_;
00255 };
00256 }
00257 
00258 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Apr 20 2018 03:31:11