Program Listing for File trajectory_blender_transition_window.h
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#pragma once
#include <moveit/planning_interface/planning_interface.h>
#include <pilz_industrial_motion_planner/cartesian_trajectory.h>
#include <pilz_industrial_motion_planner/cartesian_trajectory_point.h>
#include <pilz_industrial_motion_planner/trajectory_blend_request.h>
#include <pilz_industrial_motion_planner/trajectory_blender.h>
#include <pilz_industrial_motion_planner/trajectory_functions.h>
namespace pilz_industrial_motion_planner
{
class TrajectoryBlenderTransitionWindow : public TrajectoryBlender
{
public:
TrajectoryBlenderTransitionWindow(const LimitsContainer& planner_limits)
: TrajectoryBlender::TrajectoryBlender(planner_limits)
{
}
~TrajectoryBlenderTransitionWindow() override
{
}
bool blend(const planning_scene::PlanningSceneConstPtr& planning_scene,
const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
pilz_industrial_motion_planner::TrajectoryBlendResponse& res) override;
private:
bool validateRequest(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, double& sampling_time,
moveit_msgs::msg::MoveItErrorCodes& error_code) const;
bool searchIntersectionPoints(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
std::size_t& first_interse_index, std::size_t& second_interse_index) const;
void determineTrajectoryAlignment(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
std::size_t first_interse_index, std::size_t second_interse_index,
std::size_t& blend_align_index) const;
void blendTrajectoryCartesian(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
const std::size_t first_interse_index, const std::size_t second_interse_index,
const std::size_t blend_align_index, double sampling_time,
pilz_industrial_motion_planner::CartesianTrajectory& trajectory) const;
private: // static members
// Constant to check for equality of values.
static constexpr double EPSILON = 1e-4;
};
} // namespace pilz_industrial_motion_planner