add_ruckig_traj_smoothing.cpp

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/* Author: Jack Center, Wyatt Rees, Andy Zelenak */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/trajectory_processing/ruckig_traj_smoothing.h>
#include <class_loader/class_loader.hpp>
 
namespace default_planner_request_adapters
{
using namespace trajectory_processing;
 
const std::string LOGGER = "moveit_ros.add_traj_smoothing";
 
class AddRuckigTrajectorySmoothing : public planning_request_adapter::PlanningRequestAdapter
{
public:
  AddRuckigTrajectorySmoothing() : planning_request_adapter::PlanningRequestAdapter()
  {
  }
 
  void initialize(const ros::NodeHandle& /*node_handle*/) override
  {
  }
 
  std::string getDescription() const override
  {
    return "Add Ruckig trajectory smoothing.";
  }
 
  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 override
  {
    bool result = planner(planning_scene, req, res);
    if (result && res.trajectory_)
    {
      if (!smoother_.applySmoothing(*res.trajectory_, req.max_velocity_scaling_factor,
                                    req.max_acceleration_scaling_factor))
      {
        ROS_WARN_NAMED(LOGGER, " Trajectory smoothing for the solution path failed.");
        result = false;
      }
    }
 
    return result;
  }
 
private:
  RuckigSmoothing smoother_;
};
 
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddRuckigTrajectorySmoothing,
                            planning_request_adapter::PlanningRequestAdapter)