add_time_parameterization.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2012, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
40 #include <ros/console.h>
41 
43 {
45 {
46 public:
48  {
49  }
50 
51  virtual std::string getDescription() const
52  {
53  return "Add Time Parameterization";
54  }
55 
56  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
59  std::vector<std::size_t>& added_path_index) const
60  {
61  bool result = planner(planning_scene, req, res);
62  if (result && res.trajectory_)
63  {
64  ROS_DEBUG("Running '%s'", getDescription().c_str());
65  if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
66  req.max_acceleration_scaling_factor))
67  ROS_WARN("Time parametrization for the solution path failed.");
68  }
69 
70  return result;
71  }
72 
73 private:
75 };
76 }
77 
robot_trajectory::RobotTrajectoryPtr trajectory_
trajectory_processing::IterativeParabolicTimeParameterization time_param_
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
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeParameterization, planning_request_adapter::PlanningRequestAdapter)
#define ROS_WARN(...)
moveit_msgs::MotionPlanRequest MotionPlanRequest
boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> PlannerFn
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
#define ROS_DEBUG(...)


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jul 10 2019 04:03:32