towr_ros_interface.h

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#ifndef TOWR_INCLUDE_TOWR_ROS_TOWR_ROS_H_
#define TOWR_INCLUDE_TOWR_ROS_TOWR_ROS_H_

#include <string>

#include <ros/ros.h>
#include <rosbag/bag.h>

#include <xpp_states/robot_state_cartesian.h>
#include <xpp_msgs/RobotStateCartesian.h>
#include <xpp_msgs/RobotParameters.h>
#include <towr_ros/TowrCommand.h>

#include <towr/nlp_formulation.h>
#include <ifopt/ipopt_solver.h>


namespace towr {


class TowrRosInterface {
public:
  using XppVec         = std::vector<xpp::RobotStateCartesian>;
  using TowrCommandMsg = towr_ros::TowrCommand;
  using Vector3d       = Eigen::Vector3d;

protected:
  TowrRosInterface ();
  virtual ~TowrRosInterface () = default;

  virtual void SetTowrInitialState() = 0;

  virtual Parameters GetTowrParameters(int n_ee, const TowrCommandMsg& msg) const = 0;

  virtual void SetIpoptParameters(const TowrCommandMsg& msg) = 0;

  NlpFormulation formulation_;         
  ifopt::IpoptSolver::Ptr solver_; 

private:
  SplineHolder solution; 
  ifopt::Problem nlp_;   
  double visualization_dt_; 

  ::ros::Subscriber user_command_sub_;
  ::ros::Publisher initial_state_pub_;
  ::ros::Publisher robot_parameters_pub_;

  void UserCommandCallback(const TowrCommandMsg& msg);
  XppVec GetTrajectory() const;
  virtual BaseState GetGoalState(const TowrCommandMsg& msg) const;
  void PublishInitialState();
  std::vector<XppVec>GetIntermediateSolutions();
  xpp_msgs::RobotParameters BuildRobotParametersMsg(const RobotModel& model) const;
  void SaveOptimizationAsRosbag(const std::string& bag_name,
                                const xpp_msgs::RobotParameters& robot_params,
                                const TowrCommandMsg user_command_msg,
                                bool include_iterations=false);
  void SaveTrajectoryInRosbag (rosbag::Bag&,
                               const std::vector<xpp::RobotStateCartesian>& traj,
                               const std::string& topic) const;
};

} /* namespace towr */

#endif /* XPP_OPT_INCLUDE_XPP_ROS_OPTIMIZER_NODE_H_ */