add_time_optimal_parameterization.cpp
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34 
35 /* Author: Ioan Sucan, Michael Ferguson */
36 
40 #include <ros/console.h>
41 
43 {
44 using namespace trajectory_processing;
45 
47 class AddTimeOptimalParameterization : public planning_request_adapter::PlanningRequestAdapter
48 {
49 public:
50  AddTimeOptimalParameterization() : planning_request_adapter::PlanningRequestAdapter()
51  {
52  }
53 
54  void initialize(const ros::NodeHandle& /*nh*/) override
55  {
56  }
57 
58  std::string getDescription() const override
59  {
60  return "Add Time Optimal Parameterization";
61  }
62 
63  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
65  std::vector<std::size_t>& /*added_path_index*/) const override
66  {
67  bool result = planner(planning_scene, req, res);
68  if (result && res.trajectory_)
69  {
70  ROS_DEBUG("Running '%s'", getDescription().c_str());
72  if (!totg.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
73  req.max_acceleration_scaling_factor))
74  {
75  ROS_ERROR("Time parametrization for the solution path failed.");
76  result = false;
77  }
78  }
79 
80  return result;
81  }
82 };
83 
84 } // namespace default_planner_request_adapters
85 
initialize
bool initialize(MeshCollisionTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, bool use_refit, bool refit_bottomup)
default_planner_request_adapters::AddTimeOptimalParameterization
This adapter uses the time-optimal trajectory generation method.
Definition: add_time_optimal_parameterization.cpp:79
planning_interface::MotionPlanResponse
planning_request_adapter.h
ROS_DEBUG
#define ROS_DEBUG(...)
planning_request_adapter::PlanningRequestAdapter
trajectory_processing::TimeOptimalTrajectoryGeneration
CLASS_LOADER_REGISTER_CLASS
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeOptimalParameterization, planning_request_adapter::PlanningRequestAdapter)
console.h
planning_interface::MotionPlanResponse::trajectory_
robot_trajectory::RobotTrajectoryPtr trajectory_
ROS_ERROR
#define ROS_ERROR(...)
trajectory_processing
class_loader.hpp
planning_interface::MotionPlanRequest
moveit_msgs::MotionPlanRequest MotionPlanRequest
time_optimal_trajectory_generation.h
default_planner_request_adapters
Definition: add_iterative_spline_parameterization.cpp:43
planning_request_adapter
trajectory_processing::TimeOptimalTrajectoryGeneration::computeTimeStamps
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override
planning_scene
ros::NodeHandle


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Jan 18 2025 03:36:46