demo_construct_state_database.cpp

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/* Author: Ioan Sucan */

#include <moveit/ompl_interface/ompl_interface.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/profiler/profiler.h>

#include <boost/math/constants/constants.hpp>

static const std::string ROBOT_DESCRIPTION = "robot_description";

moveit_msgs::Constraints getConstraints()
{
  moveit_msgs::OrientationConstraint ocm;
  ocm.link_name = "r_wrist_roll_link";
  ocm.header.frame_id = "torso_lift_link";
  ocm.orientation.x = 0;
  ocm.orientation.y = 0;
  ocm.orientation.z = 0;
  ocm.orientation.w = 1.0;
  ocm.absolute_x_axis_tolerance = 0.1;
  ocm.absolute_y_axis_tolerance = 0.1;
  ocm.absolute_z_axis_tolerance = boost::math::constants::pi<double>();
  ocm.weight = 1.0;
  moveit_msgs::Constraints cmsg;
  cmsg.orientation_constraints.resize(1, ocm);
  cmsg.name = ocm.link_name + ":upright";
  return cmsg;
}

void computeDB(const robot_model::RobotModelPtr &robot_model,
           unsigned int ns, unsigned int ne)
{
  planning_scene::PlanningScenePtr ps(new planning_scene::PlanningScene(robot_model));
  ompl_interface::OMPLInterface ompl_interface(robot_model);
  moveit_msgs::Constraints c = getConstraints();
  ompl_interface::ConstraintApproximationConstructionOptions opt;
  opt.state_space_parameterization = "PoseModel";
  opt.samples = ns;
  opt.edges_per_sample = ne;
  opt.explicit_motions = true;
  opt.max_edge_length = 0.2;
  opt.explicit_points_resolution = 0.05;
  opt.max_explicit_points = 10;

  ompl_interface.getConstraintsLibrary().addConstraintApproximation(c, "right_arm", ps, opt);
  ompl_interface.getConstraintsLibrary().saveConstraintApproximations("~/constraints_approximation_database");
  ROS_INFO("Done");
}

  /*
  bool constructConstraintApproximation(moveit_msgs::ConstructConstraintApproximation::Request &req, moveit_msgs::ConstructConstraintApproximation::Response &res)
  {
    planning_scene::PlanningScenePtr diff_scene = psm_.getPlanningScene()->diff();
    robot_state::robotStateMsgToRobotState(*psm_.getPlanningScene()->getTransforms(), req.start_state, diff_scene->getCurrentStateNonConst());
    ompl_interface::ConstraintApproximationConstructionResults ca_res =
      ompl_interface_.getConstraintsLibrary().addConstraintApproximation(req.constraint, req.group, req.state_space_parameterization,
                                                                         diff_scene, req.samples, req.edges_per_sample);
    if (ca_res.approx)
    {
      res.sampling_success_rate = ca_res.sampling_success_rate;
      res.state_sampling_time = ca_res.state_sampling_time;
      res.state_connection_time = ca_res.state_connection_time;
      res.filename = ca_res.approx->getFilename();
      return ompl_interface_.saveConstraintApproximations();
    }
    else
      return false;
  }
  */

int main(int argc, char **argv)
{
  ros::init(argc, argv, "construct_ompl_state_database", ros::init_options::AnonymousName);

  ros::AsyncSpinner spinner(1);
  spinner.start();

  unsigned int nstates = 1000;
  unsigned int nedges = 0;

  if (argc > 1)
    try
    {
      nstates = boost::lexical_cast<unsigned int>(argv[1]);
    }
    catch(...)
    {
    }

  if (argc > 2)
    try
    {
      nedges = boost::lexical_cast<unsigned int>(argv[2]);
    }
    catch(...)
    {
    }

  robot_model_loader::RobotModelLoader rml(ROBOT_DESCRIPTION);
  computeDB(rml.getModel(), nstates, nedges);

  ros::shutdown();
  return 0;
}