add_time_optimal_parameterization.cpp

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/* Author: Ioan Sucan, Michael Ferguson */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <class_loader/class_loader.hpp>
 
namespace default_planner_request_adapters
{
using namespace trajectory_processing;
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.add_time_optimal_parameterization");
 
class AddTimeOptimalParameterization : public planning_request_adapter::PlanningRequestAdapter
{
public:
  AddTimeOptimalParameterization() : planning_request_adapter::PlanningRequestAdapter()
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    path_tolerance_ = getParam(node, LOGGER, parameter_namespace, "path_tolerance", 0.1);
    resample_dt_ = getParam(node, LOGGER, parameter_namespace, "resample_dt", 0.1);
    min_angle_change_ = getParam(node, LOGGER, parameter_namespace, "min_angle_change", 0.001);
  }
 
  std::string getDescription() const override
  {
    return "Add Time Optimal Parameterization";
  }
 
  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& /*added_path_index*/) const override
  {
    bool result = planner(planning_scene, req, res);
    if (result && res.trajectory_)
    {
      RCLCPP_DEBUG(LOGGER, " Running '%s'", getDescription().c_str());
      TimeOptimalTrajectoryGeneration totg(path_tolerance_, resample_dt_, min_angle_change_);
      if (!totg.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
                                  req.max_acceleration_scaling_factor))
      {
        RCLCPP_WARN(LOGGER, " Time parametrization for the solution path failed.");
        result = false;
      }
    }
 
    return result;
  }
 
protected:
  double path_tolerance_;
  double resample_dt_;
  double min_angle_change_;
};
 
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeOptimalParameterization,
                            planning_request_adapter::PlanningRequestAdapter)