Program Listing for File trajectory_blender_transition_window.h

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#pragma once

#include <moveit/planning_interface/planning_interface.h>
#include <pilz_industrial_motion_planner/cartesian_trajectory.h>
#include <pilz_industrial_motion_planner/cartesian_trajectory_point.h>
#include <pilz_industrial_motion_planner/trajectory_blend_request.h>
#include <pilz_industrial_motion_planner/trajectory_blender.h>
#include <pilz_industrial_motion_planner/trajectory_functions.h>

namespace pilz_industrial_motion_planner
{
class TrajectoryBlenderTransitionWindow : public TrajectoryBlender
{
public:
  TrajectoryBlenderTransitionWindow(const LimitsContainer& planner_limits)
    : TrajectoryBlender::TrajectoryBlender(planner_limits)
  {
  }

  ~TrajectoryBlenderTransitionWindow() override
  {
  }

  bool blend(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
             pilz_industrial_motion_planner::TrajectoryBlendResponse& res) override;

private:
  bool validateRequest(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req, double& sampling_time,
                       moveit_msgs::msg::MoveItErrorCodes& error_code) const;
  bool searchIntersectionPoints(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
                                std::size_t& first_interse_index, std::size_t& second_interse_index) const;

  void determineTrajectoryAlignment(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
                                    std::size_t first_interse_index, std::size_t second_interse_index,
                                    std::size_t& blend_align_index) const;

  void blendTrajectoryCartesian(const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
                                const std::size_t first_interse_index, const std::size_t second_interse_index,
                                const std::size_t blend_align_index, double sampling_time,
                                pilz_industrial_motion_planner::CartesianTrajectory& trajectory) const;

private:  // static members
  // Constant to check for equality of values.
  static constexpr double EPSILON = 1e-4;
};

}  // namespace pilz_industrial_motion_planner