display_solution.cpp

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/* Author: Robert Haschke */
 
#include <moveit/visualization_tools/display_solution.h>
#include <moveit/visualization_tools/marker_visualization.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <ros/console.h>
#include <fmt/core.h>
 
namespace moveit_rviz_plugin {
 
std::pair<size_t, size_t> DisplaySolution::indexPair(size_t index) const {
        size_t part = 0;
        for (const auto& d : data_) {
                if (index < d.trajectory_->getWayPointCount())
                        break;
                index -= d.trajectory_->getWayPointCount();
                ++part;
        }
        assert(part < data_.size());
        assert(index < data_[part].trajectory_->getWayPointCount());
        return std::make_pair(part, index);
}
 
DisplaySolution::DisplaySolution(const DisplaySolution& master, uint32_t sub)
  : start_scene_(sub == 0 ? master.start_scene_ : master.data_[sub - 1].scene_), data_({ master.data_[sub] }) {
        steps_ = data_.front().trajectory_->getWayPointCount();
}
 
float DisplaySolution::getWayPointDurationFromPrevious(const IndexPair& idx_pair) const {
        return data_[idx_pair.first].trajectory_->getWayPointDurationFromPrevious(idx_pair.second);
}
 
const moveit::core::RobotStatePtr& DisplaySolution::getWayPointPtr(const IndexPair& idx_pair) const {
        return data_[idx_pair.first].trajectory_->getWayPointPtr(idx_pair.second);
}
 
const planning_scene::PlanningSceneConstPtr& DisplaySolution::scene(const IndexPair& idx_pair) const {
        // start scene is parent of end scene
        return data_[idx_pair.first].scene_->getParent();
}
 
const std::string& DisplaySolution::comment(const IndexPair& idx_pair) const {
        return data_[idx_pair.first].comment_;
}
 
uint32_t DisplaySolution::creatorId(const DisplaySolution::IndexPair& idx_pair) const {
        return data_[idx_pair.first].creator_id_;
}
 
const MarkerVisualizationPtr DisplaySolution::markers(const DisplaySolution::IndexPair& idx_pair) const {
        return data_[idx_pair.first].markers_;
}
 
void DisplaySolution::setFromMessage(const planning_scene::PlanningScenePtr& start_scene,
                                     const moveit_task_constructor_msgs::Solution& msg) {
        if (msg.start_scene.robot_model_name != start_scene->getRobotModel()->getName())
                throw std::invalid_argument(fmt::format("Solution for model '{}' but model '{}' was expected",
                                                        msg.start_scene.robot_model_name,
                                                        start_scene->getRobotModel()->getName()));
 
        // initialize parent scene from solution's start scene
        start_scene->setPlanningSceneMsg(msg.start_scene);
        start_scene_ = start_scene;
        planning_scene::PlanningScenePtr ref_scene = start_scene_->diff();
 
        data_.resize(msg.sub_trajectory.size());
 
        steps_ = 0;
        size_t i = 0;
        for (const auto& sub : msg.sub_trajectory) {
                data_[i].trajectory_.reset(new robot_trajectory::RobotTrajectory(ref_scene->getRobotModel(), nullptr));
                data_[i].trajectory_->setRobotTrajectoryMsg(ref_scene->getCurrentState(), sub.trajectory);
                data_[i].joints_ = sub.trajectory.joint_trajectory.joint_names;
                data_[i].joints_.insert(data_[i].joints_.end(), sub.trajectory.multi_dof_joint_trajectory.joint_names.begin(),
                                        sub.trajectory.multi_dof_joint_trajectory.joint_names.end());
                data_[i].comment_ = sub.info.comment;
                data_[i].creator_id_ = sub.info.stage_id;
                steps_ += data_[i].trajectory_->getWayPointCount();
 
                ref_scene->setPlanningSceneDiffMsg(sub.scene_diff);
                data_[i].scene_ = ref_scene;
 
                // create new reference scene for next iteration
                ref_scene = ref_scene->diff();
 
                if (!sub.info.markers.empty())
                        data_[i].markers_.reset(new MarkerVisualization(sub.info.markers, *ref_scene));
                else
                        data_[i].markers_.reset();
                ++i;
        }
}
 
void DisplaySolution::fillMessage(moveit_task_constructor_msgs::Solution& msg) const {
        start_scene_->getPlanningSceneMsg(msg.start_scene);
        msg.sub_trajectory.resize(data_.size());
        auto traj_it = msg.sub_trajectory.begin();
        for (const auto& sub : data_) {
                sub.scene_->getPlanningSceneDiffMsg(traj_it->scene_diff);
                sub.trajectory_->getRobotTrajectoryMsg(traj_it->trajectory, sub.joints_);
                ++traj_it;
        }
}
 
}  // namespace moveit_rviz_plugin