Program Listing for File servo.hpp
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/* Title : servo.hpp
* Project : moveit_servo
* Created : 05/17/2023
* Author : Brian O'Neil, Andy Zelenak, Blake Anderson, V Mohammed Ibrahim
*
* Description : The core servoing logic.
*/
#pragma once
#include <moveit_servo_lib_parameters.hpp>
#include <moveit_servo/collision_monitor.hpp>
#include <moveit_servo/utils/command.hpp>
#include <moveit_servo/utils/datatypes.hpp>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/online_signal_smoothing/smoothing_base_class.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <pluginlib/class_loader.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_ros/transform_listener.h>
#include <variant>
#include <rclcpp/logger.hpp>
#include <queue>
namespace moveit_servo
{
class Servo
{
public:
Servo(const rclcpp::Node::SharedPtr& node, std::shared_ptr<const servo::ParamListener> servo_param_listener,
const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
~Servo();
// Disable copy construction.
Servo(const Servo&) = delete;
// Disable copy assignment.
Servo& operator=(Servo&) = delete;
KinematicState getNextJointState(const moveit::core::RobotStatePtr& robot_state, const ServoInput& command);
void setCommandType(const CommandType& command_type);
CommandType getCommandType() const;
StatusCode getStatus() const;
std::string getStatusMessage() const;
void setCollisionChecking(const bool check_collision);
servo::Params& getParams();
KinematicState getCurrentRobotState() const;
std::pair<bool, KinematicState> smoothHalt(const KinematicState& halt_state);
void doSmoothing(KinematicState& state);
void resetSmoothing(const KinematicState& state);
private:
std::optional<Eigen::Isometry3d> getPlanningToCommandFrameTransform(const std::string& command_frame,
const std::string& planning_frame) const;
std::optional<TwistCommand> toPlanningFrame(const TwistCommand& command, const std::string& planning_frame) const;
std::optional<PoseCommand> toPlanningFrame(const PoseCommand& command, const std::string& planning_frame) const;
Eigen::VectorXd jointDeltaFromCommand(const ServoInput& command, const moveit::core::RobotStatePtr& robot_state);
bool validateParams(const servo::Params& servo_params) const;
bool updateParams();
void setSmoothingPlugin();
KinematicState haltJoints(const std::vector<int>& joints_to_halt, const KinematicState& current_state,
const KinematicState& target_state) const;
// Variables
StatusCode servo_status_;
// This needs to be threadsafe so it can be updated in realtime.
std::atomic<CommandType> expected_command_type_;
servo::Params servo_params_;
const rclcpp::Node::SharedPtr node_;
rclcpp::Logger logger_;
std::shared_ptr<const servo::ParamListener> servo_param_listener_;
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
// This value will be updated by CollisionMonitor in a separate thread.
std::atomic<double> collision_velocity_scale_ = 1.0;
std::unique_ptr<CollisionMonitor> collision_monitor_;
// Pointer to the (optional) smoothing plugin.
pluginlib::UniquePtr<online_signal_smoothing::SmoothingBaseClass> smoother_ = nullptr;
// Map between joint subgroup names and corresponding joint name - move group indices map
std::unordered_map<std::string, JointNameToMoveGroupIndexMap> joint_name_to_index_maps_;
};
} // namespace moveit_servo