collision_check.h

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#ifndef INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_COST_FUNCTIONS_COLLISION_CHECK_H_
#define INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_COST_FUNCTIONS_COLLISION_CHECK_H_

#include <Eigen/Sparse>
#include <moveit/robot_model/robot_model.h>
#include "stomp_moveit/cost_functions/stomp_cost_function.h"

namespace stomp_moveit
{
namespace cost_functions
{

class CollisionCheck : public StompCostFunction
{
public:
  CollisionCheck();
  virtual ~CollisionCheck();

  virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr,
                          const std::string& group_name,XmlRpc::XmlRpcValue& config) override;

  virtual bool configure(const XmlRpc::XmlRpcValue& config) override;

  virtual bool setMotionPlanRequest(const planning_scene::PlanningSceneConstPtr& planning_scene,
                   const moveit_msgs::MotionPlanRequest &req,
                   const stomp_core::StompConfiguration &config,
                   moveit_msgs::MoveItErrorCodes& error_code) override;


  virtual bool computeCosts(const Eigen::MatrixXd& parameters,
                            std::size_t start_timestep,
                            std::size_t num_timesteps,
                            int iteration_number,
                            int rollout_number,
                            Eigen::VectorXd& costs,
                            bool& validity) override;

  virtual std::string getGroupName() const override
  {
    return group_name_;
  }


  virtual std::string getName() const override
  {
    return "CollisionCheck/" + group_name_;
  }

  virtual void done(bool success,int total_iterations,double final_cost,const Eigen::MatrixXd& parameters) override;

protected:

  bool checkIntermediateCollisions(const Eigen::VectorXd& start, const Eigen::VectorXd& end,double longest_valid_joint_move);

  std::string name_;

  // robot details
  std::string group_name_;
  moveit::core::RobotModelConstPtr robot_model_ptr_;
  moveit::core::RobotStatePtr robot_state_;

  // planning context information
  planning_scene::PlanningSceneConstPtr planning_scene_;
  moveit_msgs::MotionPlanRequest plan_request_;

  // parameters
  double collision_penalty_;            
  double kernel_window_percentage_;     
  double longest_valid_joint_move_;     
  // cost calculation
  Eigen::VectorXd raw_costs_;
  Eigen::ArrayXd intermediate_costs_slots_;

  // collision
  collision_detection::CollisionRequest collision_request_;
  collision_detection::CollisionRobotConstPtr collision_robot_;
  collision_detection::CollisionWorldConstPtr collision_world_;

  // intermediate collision check support
  std::array<moveit::core::RobotStatePtr,3 > intermediate_coll_states_;   
};

} /* namespace cost_functions */
} /* namespace stomp_moveit */

#endif /* INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_COST_FUNCTIONS_COLLISION_CHECK_H_ */