add_time_parameterization.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, 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 */
00036 
00037 #include <moveit/planning_request_adapter/planning_request_adapter.h>
00038 #include <moveit/trajectory_processing/iterative_time_parameterization.h>
00039 #include <class_loader/class_loader.h>
00040 #include <ros/console.h>
00041 
00042 namespace default_planner_request_adapters
00043 {
00044 class AddTimeParameterization : public planning_request_adapter::PlanningRequestAdapter
00045 {
00046 public:
00047   AddTimeParameterization() : planning_request_adapter::PlanningRequestAdapter()
00048   {
00049   }
00050 
00051   virtual std::string getDescription() const
00052   {
00053     return "Add Time Parameterization";
00054   }
00055 
00056   virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
00057                             const planning_interface::MotionPlanRequest& req,
00058                             planning_interface::MotionPlanResponse& res,
00059                             std::vector<std::size_t>& added_path_index) const
00060   {
00061     bool result = planner(planning_scene, req, res);
00062     if (result && res.trajectory_)
00063     {
00064       ROS_DEBUG("Running '%s'", getDescription().c_str());
00065       if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
00066                                          req.max_acceleration_scaling_factor))
00067         ROS_WARN("Time parametrization for the solution path failed.");
00068     }
00069 
00070     return result;
00071   }
00072 
00073 private:
00074   trajectory_processing::IterativeParabolicTimeParameterization time_param_;
00075 };
00076 }
00077 
00078 CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeParameterization,
00079                             planning_request_adapter::PlanningRequestAdapter);


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:16