Program Listing for File plan_components_builder.h

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#pragma once

#include <memory>
#include <string>

#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/planning_interface/planning_interface.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>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.h>

namespace pilz_industrial_motion_planner
{
using TipFrameFunc_t = std::function<const std::string&(const std::string&)>;

// List of exceptions which can be thrown by the PlanComponentsBuilder class.
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoBlenderSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoTipFrameFunctionSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoRobotModelSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(BlendingFailedException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);

class PlanComponentsBuilder
{
public:
  void setBlender(std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender> blender);

  void setModel(const moveit::core::RobotModelConstPtr& model);

  void append(const planning_scene::PlanningSceneConstPtr& planning_scene,
              const robot_trajectory::RobotTrajectoryPtr& other, const double blend_radius);

  void reset();

  std::vector<robot_trajectory::RobotTrajectoryPtr> build() const;

private:
  void blend(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const robot_trajectory::RobotTrajectoryPtr& other, const double blend_radius);

private:
  static void appendWithStrictTimeIncrease(robot_trajectory::RobotTrajectory& result,
                                           const robot_trajectory::RobotTrajectory& source);

private:
  std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender> blender_;

  moveit::core::RobotModelConstPtr model_;

  robot_trajectory::RobotTrajectoryPtr traj_tail_;

  std::vector<robot_trajectory::RobotTrajectoryPtr> traj_cont_;

private:
  static constexpr double ROBOT_STATE_EQUALITY_EPSILON = 1e-4;
};

inline void PlanComponentsBuilder::setBlender(std::unique_ptr<pilz_industrial_motion_planner::TrajectoryBlender> blender)
{
  blender_ = std::move(blender);
}

inline void PlanComponentsBuilder::setModel(const moveit::core::RobotModelConstPtr& model)
{
  model_ = model;
}

inline void PlanComponentsBuilder::reset()
{
  traj_tail_ = nullptr;
  traj_cont_.clear();
}

}  // namespace pilz_industrial_motion_planner