constrained_planning_state_space.cpp

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/* Author: Jeroen De Maeyer */
 
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h>
 
#include <ompl/base/spaces/constraint/ConstrainedStateSpace.h>
 
namespace ompl_interface
{
const std::string ConstrainedPlanningStateSpace::PARAMETERIZATION_TYPE = "ConstrainedPlanningJointModel";
 
ConstrainedPlanningStateSpace::ConstrainedPlanningStateSpace(const ModelBasedStateSpaceSpecification& spec)
  : ModelBasedStateSpace(spec)
{
  setName(getName() + "_" + PARAMETERIZATION_TYPE);
}
 
double* ConstrainedPlanningStateSpace::getValueAddressAtIndex(ompl::base::State* ompl_state,
                                                              const unsigned int index) const
{
  assert(ompl_state != nullptr);
  if (index >= variable_count_)
  {
    return nullptr;
  }
 
  // Developer tip: replace this with a dynamic_cast for debugging
  return ompl_state->as<ompl_interface::ConstrainedPlanningStateSpace::StateType>()->values + index;
}
 
void ConstrainedPlanningStateSpace::copyToRobotState(moveit::core::RobotState& robot_state,
                                                     const ompl::base::State* ompl_state) const
{
  assert(ompl_state != nullptr);
  robot_state.setJointGroupPositions(
      spec_.joint_model_group_,
      ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateType>()->values);
  robot_state.update();
}
 
void ConstrainedPlanningStateSpace::copyToOMPLState(ompl::base::State* ompl_state,
                                                    const moveit::core::RobotState& robot_state) const
{
  assert(ompl_state != nullptr);
  robot_state.copyJointGroupPositions(
      spec_.joint_model_group_,
      ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateType>()->values);
 
  // clear any cached info (such as validity known or not)
  ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateType>()->clearKnownInformation();
}
 
void ConstrainedPlanningStateSpace::copyJointToOMPLState(ompl::base::State* ompl_state,
                                                         const moveit::core::RobotState& robot_state,
                                                         const moveit::core::JointModel* joint_model,
                                                         int ompl_state_joint_index) const
{
  assert(ompl_state != nullptr);
  assert(joint_model != nullptr);
  memcpy(getValueAddressAtIndex(ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState(),
                                ompl_state_joint_index),
         robot_state.getVariablePositions() + joint_model->getFirstVariableIndex(),
         joint_model->getVariableCount() * sizeof(double));
 
  // clear any cached info (such as validity known or not)
  ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateType>()->clearKnownInformation();
}
}  // namespace ompl_interface