Program Listing for File conversion_functions.hpp
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#pragma once
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/robot_state/robot_state.h>
namespace stomp_moveit
{
using Joints = std::vector<const moveit::core::JointModel*>;
std::vector<double> getPositions(const moveit::core::RobotState& state, const Joints& joints)
{
std::vector<double> positions;
for (const auto& joint : joints)
{
positions.push_back(*state.getJointPositions(joint));
}
return positions;
}
void setJointPositions(const Eigen::VectorXd& values, const Joints& joints, moveit::core::RobotState& state)
{
for (size_t joint_index = 0; joint_index < joints.size(); ++joint_index)
{
state.setJointPositions(joints[joint_index], &values[joint_index]);
}
}
void fillRobotTrajectory(const Eigen::MatrixXd& trajectory_values, const moveit::core::RobotState& reference_state,
robot_trajectory::RobotTrajectory& trajectory)
{
trajectory.clear();
const auto& active_joints = trajectory.getGroup() ? trajectory.getGroup()->getActiveJointModels() :
trajectory.getRobotModel()->getActiveJointModels();
assert(static_cast<std::size_t>(trajectory_values.rows()) == active_joints.size());
for (int timestep = 0; timestep < trajectory_values.cols(); ++timestep)
{
const auto waypoint = std::make_shared<moveit::core::RobotState>(reference_state);
setJointPositions(trajectory_values.col(timestep), active_joints, *waypoint);
trajectory.addSuffixWayPoint(waypoint, 0.1 /* placeholder dt */);
}
}
robot_trajectory::RobotTrajectory matrixToRobotTrajectory(const Eigen::MatrixXd& trajectory_values,
const moveit::core::RobotState& reference_state,
const moveit::core::JointModelGroup* group = nullptr)
{
robot_trajectory::RobotTrajectory trajectory(reference_state.getRobotModel(), group);
fillRobotTrajectory(trajectory_values, reference_state, trajectory);
return trajectory;
}
Eigen::MatrixXd robotTrajectoryToMatrix(const robot_trajectory::RobotTrajectory& trajectory)
{
const auto& active_joints = trajectory.getGroup() ? trajectory.getGroup()->getActiveJointModels() :
trajectory.getRobotModel()->getActiveJointModels();
Eigen::MatrixXd trajectory_values(active_joints.size(), trajectory.getWayPointCount());
for (int timestep = 0; timestep < trajectory_values.cols(); ++timestep)
{
const auto& waypoint = trajectory.getWayPoint(timestep);
for (size_t joint_index = 0; joint_index < active_joints.size(); ++joint_index)
{
trajectory_values(joint_index, timestep) = *waypoint.getJointPositions(active_joints[joint_index]);
}
}
return trajectory_values;
}
} // namespace stomp_moveit