chomp_utils.h

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/* Author: Mrinal Kalakrishnan */

#ifndef CHOMP_UTILS_H_
#define CHOMP_UTILS_H_

#include <iostream>
#include <Eigen/Core>
#include <planning_scene/planning_scene.h>

namespace chomp
{

static const int DIFF_RULE_LENGTH = 7;

// the differentiation rules (centered at the center)
static const double DIFF_RULES[3][DIFF_RULE_LENGTH] = {
    {0, 0, -2/6.0, -3/6.0, 6/6.0, -1/6.0, 0},                   // velocity
    {0, -1/12.0, 16/12.0, -30/12.0, 16/12.0, -1/12.0, 0},       // acceleration
    {0, 1/12.0, -17/12.0, 46/12.0, -46/12.0, 17/12.0, -1/12.0}  // jerk
};

static inline void jointStateToArray(const planning_models::RobotModelConstPtr& kmodel,
                              const sensor_msgs::JointState &joint_state,
                              const std::string& planning_group_name,
                              Eigen::MatrixXd::RowXpr joint_array)
{
  const planning_models::RobotModel::JointModelGroup* group = kmodel->getJointModelGroup(planning_group_name);
  std::vector<const planning_models::RobotModel::JointModel*> models = group->getJointModels();

  for(unsigned int i=0; i < joint_state.position.size(); i++)
  {
    for(size_t j = 0; j < models.size(); j++)
    {
      if(models[j]->getName() == joint_state.name[i])
      {
        joint_array(0, j) = joint_state.position[i];
      }
    }
  }
}

//copied from geometry/angles/angles.h
static inline double normalizeAnglePositive(double angle)
{
  return fmod(fmod(angle, 2.0*M_PI) + 2.0*M_PI, 2.0*M_PI);
}

static inline double normalizeAngle(double angle)
{
  double a = normalizeAnglePositive(angle);
  if (a > M_PI)
    a -= 2.0 *M_PI;
  return a;
}

static inline double shortestAngularDistance(double start, double end) {
  double res = normalizeAnglePositive(normalizeAnglePositive(end)-normalizeAnglePositive(start));
  if(res > M_PI) {
    res = -(2.0*M_PI-res);
  }
  return normalizeAngle(res);
}

} //namespace chomp

#endif /* CHOMP_UTILS_H_ */