moveit2
The MoveIt Motion Planning Framework for ROS 2.
chomp_utils.h
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34 
35 /* Author: Mrinal Kalakrishnan */
36 
37 #pragma once
38 
40 
41 #include <Eigen/Core>
42 #include <iostream>
43 
44 namespace chomp
45 {
46 static const int DIFF_RULE_LENGTH = 7;
47 
48 // the differentiation rules (centered at the center)
49 static const double DIFF_RULES[3][DIFF_RULE_LENGTH] = {
50  { 0, 0, -2 / 6.0, -3 / 6.0, 6 / 6.0, -1 / 6.0, 0 }, // velocity
51  { 0, -1 / 12.0, 16 / 12.0, -30 / 12.0, 16 / 12.0, -1 / 12.0, 0 }, // acceleration
52  { 0, 1 / 12.0, -17 / 12.0, 46 / 12.0, -46 / 12.0, 17 / 12.0, -1 / 12.0 } // jerk
53 };
54 
55 static inline void robotStateToArray(const moveit::core::RobotState& state, const std::string& planning_group_name,
56  Eigen::MatrixXd::RowXpr joint_array)
57 {
58  const moveit::core::JointModelGroup* group = state.getJointModelGroup(planning_group_name);
59  size_t joint_index = 0;
60  for (const moveit::core::JointModel* jm : group->getActiveJointModels())
61  joint_array[joint_index++] = state.getVariablePosition(jm->getFirstVariableIndex());
62 }
63 
64 // copied from geometry/angles/angles.h
65 static inline double normalizeAnglePositive(double angle)
66 {
67  return fmod(fmod(angle, 2.0 * M_PI) + 2.0 * M_PI, 2.0 * M_PI);
68 }
69 
70 static inline double normalizeAngle(double angle)
71 {
72  double a = normalizeAnglePositive(angle);
73  if (a > M_PI)
74  a -= 2.0 * M_PI;
75  return a;
76 }
77 
78 static inline double shortestAngularDistance(double start, double end)
79 {
80  double res = normalizeAnglePositive(normalizeAnglePositive(end) - normalizeAnglePositive(start));
81  if (res > M_PI)
82  {
83  res = -(2.0 * M_PI - res);
84  }
85  return normalizeAngle(res);
86 }
87 
88 } // namespace chomp
A joint from the robot. Models the transform that this joint applies in the kinematic chain....
Definition: joint_model.h:117
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:90
const JointModelGroup * getJointModelGroup(const std::string &group) const
Get the model of a particular joint group.
Definition: robot_state.h:134
double getVariablePosition(const std::string &variable) const
Get the position of a particular variable. An exception is thrown if the variable is not known.
Definition: robot_state.h:207
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Definition: plan.py:54