state_validation_service_capability.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "state_validation_service_capability.h"
00038 #include <moveit/robot_state/conversions.h>
00039 #include <moveit/kinematic_constraints/utils.h>
00040 #include <moveit/collision_detection/collision_tools.h>
00041 #include <eigen_conversions/eigen_msg.h>
00042 #include <moveit/move_group/capability_names.h>
00043 
00044 move_group::MoveGroupStateValidationService::MoveGroupStateValidationService()
00045   : MoveGroupCapability("StateValidationService")
00046 {
00047 }
00048 
00049 void move_group::MoveGroupStateValidationService::initialize()
00050 {
00051   validity_service_ = root_node_handle_.advertiseService(STATE_VALIDITY_SERVICE_NAME,
00052                                                          &MoveGroupStateValidationService::computeService, this);
00053 }
00054 
00055 bool move_group::MoveGroupStateValidationService::computeService(moveit_msgs::GetStateValidity::Request& req,
00056                                                                  moveit_msgs::GetStateValidity::Response& res)
00057 {
00058   planning_scene_monitor::LockedPlanningSceneRO ls(context_->planning_scene_monitor_);
00059   robot_state::RobotState rs = ls->getCurrentState();
00060   robot_state::robotStateMsgToRobotState(req.robot_state, rs);
00061 
00062   res.valid = true;
00063 
00064   // configure collision request
00065   collision_detection::CollisionRequest creq;
00066   creq.group_name = req.group_name;
00067   creq.cost = true;
00068   creq.contacts = true;
00069   creq.max_contacts = ls->getWorld()->size();
00070   creq.max_cost_sources = creq.max_contacts + ls->getRobotModel()->getLinkModelsWithCollisionGeometry().size();
00071   creq.max_contacts *= creq.max_contacts;
00072   collision_detection::CollisionResult cres;
00073 
00074   // check collision
00075   ls->checkCollision(creq, cres, rs);
00076 
00077   // copy contacts if any
00078   if (cres.collision)
00079   {
00080     ros::Time time_now = ros::Time::now();
00081     res.contacts.reserve(cres.contact_count);
00082     res.valid = false;
00083     for (collision_detection::CollisionResult::ContactMap::const_iterator it = cres.contacts.begin();
00084          it != cres.contacts.end(); ++it)
00085       for (std::size_t k = 0; k < it->second.size(); ++k)
00086       {
00087         res.contacts.resize(res.contacts.size() + 1);
00088         collision_detection::contactToMsg(it->second[k], res.contacts.back());
00089         res.contacts.back().header.frame_id = ls->getPlanningFrame();
00090         res.contacts.back().header.stamp = time_now;
00091       }
00092   }
00093 
00094   // copy cost sources
00095   res.cost_sources.reserve(cres.cost_sources.size());
00096   for (std::set<collision_detection::CostSource>::const_iterator it = cres.cost_sources.begin();
00097        it != cres.cost_sources.end(); ++it)
00098   {
00099     res.cost_sources.resize(res.cost_sources.size() + 1);
00100     collision_detection::costSourceToMsg(*it, res.cost_sources.back());
00101   }
00102 
00103   // evaluate constraints
00104   if (!kinematic_constraints::isEmpty(req.constraints))
00105   {
00106     kinematic_constraints::KinematicConstraintSet kset(ls->getRobotModel());
00107     kset.add(req.constraints, ls->getTransforms());
00108     std::vector<kinematic_constraints::ConstraintEvaluationResult> kres;
00109     kinematic_constraints::ConstraintEvaluationResult total_result = kset.decide(rs, kres);
00110     if (!total_result.satisfied)
00111       res.valid = false;
00112 
00113     // copy constraint results
00114     res.constraint_result.resize(kres.size());
00115     for (std::size_t k = 0; k < kres.size(); ++k)
00116     {
00117       res.constraint_result[k].result = kres[k].satisfied;
00118       res.constraint_result[k].distance = kres[k].distance;
00119     }
00120   }
00121 
00122   return true;
00123 }
00124 
00125 #include <class_loader/class_loader.h>
00126 CLASS_LOADER_REGISTER_CLASS(move_group::MoveGroupStateValidationService, move_group::MoveGroupCapability)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:29