cartesian_limits_aggregator.cpp

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#include <rclcpp/exceptions/exceptions.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/parameter_value.hpp>
#include <limits>
 
#include <pilz_industrial_motion_planner/cartesian_limits_aggregator.h>
 
static const std::string PARAM_CARTESIAN_LIMITS_NS = "cartesian_limits";
 
static const std::string PARAM_MAX_TRANS_VEL = "max_trans_vel";
static const std::string PARAM_MAX_TRANS_ACC = "max_trans_acc";
static const std::string PARAM_MAX_TRANS_DEC = "max_trans_dec";
static const std::string PARAM_MAX_ROT_VEL = "max_rot_vel";
static const std::string PARAM_MAX_ROT_ACC = "max_rot_acc";
static const std::string PARAM_MAX_ROT_DEC = "max_rot_dec";
 
// TODO(sjahr) Refactor and use repository wide solution
bool declareAndGetParam(double& output_value, const std::string& param_name, const rclcpp::Node::SharedPtr& node)
{
  try
  {
    if (!node->has_parameter(param_name))
    {
      node->declare_parameter<double>(param_name, std::numeric_limits<double>::quiet_NaN());
    }
    node->get_parameter<double>(param_name, output_value);
    if (std::isnan(output_value))
    {
      RCLCPP_ERROR(node->get_logger(), "Parameter \'%s\', is not set in the config file.", param_name.c_str());
      return false;
    }
    return true;
  }
  catch (const rclcpp::exceptions::InvalidParameterTypeException& e)
  {
    RCLCPP_WARN(node->get_logger(), "InvalidParameterTypeException(\'%s\'): %s", param_name.c_str(), e.what());
    RCLCPP_ERROR(node->get_logger(), "Error getting parameter \'%s\', check parameter type in YAML file",
                 param_name.c_str());
    throw e;
  }
}
 
pilz_industrial_motion_planner::CartesianLimit
pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(const rclcpp::Node::SharedPtr& node,
                                                                               const std::string& param_namespace)
{
  std::string param_prefix = param_namespace + "." + PARAM_CARTESIAN_LIMITS_NS + ".";
 
  pilz_industrial_motion_planner::CartesianLimit cartesian_limit;
 
  // translational velocity
  double max_trans_vel;
  if (declareAndGetParam(max_trans_vel, param_prefix + PARAM_MAX_TRANS_VEL, node))
  {
    cartesian_limit.setMaxTranslationalVelocity(max_trans_vel);
  }
 
  // translational acceleration
  double max_trans_acc;
  if (declareAndGetParam(max_trans_acc, param_prefix + PARAM_MAX_TRANS_ACC, node))
  {
    cartesian_limit.setMaxTranslationalAcceleration(max_trans_acc);
  }
 
  // translational deceleration
  double max_trans_dec;
  if (declareAndGetParam(max_trans_dec, param_prefix + PARAM_MAX_TRANS_DEC, node))
  {
    cartesian_limit.setMaxTranslationalDeceleration(max_trans_dec);
  }
 
  // rotational velocity
  double max_rot_vel;
  if (declareAndGetParam(max_rot_vel, param_prefix + PARAM_MAX_ROT_VEL, node))
  {
    cartesian_limit.setMaxRotationalVelocity(max_rot_vel);
  }
 
  // rotational acceleration + deceleration deprecated
  // LCOV_EXCL_START
  if (node->has_parameter(param_prefix + PARAM_MAX_ROT_ACC) || node->has_parameter(param_prefix + PARAM_MAX_ROT_DEC))
  {
    RCLCPP_WARN(node->get_logger(),
                "Ignoring cartesian limits parameters for rotational acceleration / deceleration; these parameters are "
                "deprecated and are automatically calculated from translational to rotational ratio.");
  }
  // LCOV_EXCL_STOP
 
  return cartesian_limit;
}