default_constraint_samplers.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/constraint_samplers/constraint_sampler.h>
#include <moveit/macros/class_forward.h>
#include <random_numbers/random_numbers.h>
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <Eigen/Geometry>
 
namespace constraint_samplers
{
MOVEIT_CLASS_FORWARD(JointConstraintSampler);  // Defines JointConstraintSamplerPtr, ConstPtr, WeakPtr... etc
 
class JointConstraintSampler : public ConstraintSampler
{
public:
  JointConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name)
    : ConstraintSampler(scene, group_name), random_number_generator_(random_numbers::RandomNumberGenerator())
  {
  }
 
  JointConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                         unsigned int seed)
    : ConstraintSampler(scene, group_name), random_number_generator_(random_numbers::RandomNumberGenerator(seed))
  {
  }
 
  bool configure(const moveit_msgs::msg::Constraints& constr) override;
 
  bool configure(const std::vector<kinematic_constraints::JointConstraint>& jc);
 
  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& ks, unsigned int max_attempts) override;
 
  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
 
  std::size_t getConstrainedJointCount() const
  {
    return bounds_.size();
  }
 
  std::size_t getUnconstrainedJointCount() const
  {
    return unbounded_.size();
  }
 
  const std::string& getName() const override
  {
    static const std::string SAMPLER_NAME = "JointConstraintSampler";
    return SAMPLER_NAME;
  }
 
protected:
  struct JointInfo
  {
    JointInfo()
    {
      min_bound_ = -std::numeric_limits<double>::max();
      max_bound_ = std::numeric_limits<double>::max();
    }
 
    void potentiallyAdjustMinMaxBounds(double min, double max)
    {
      min_bound_ = std::max(min, min_bound_);
      max_bound_ = std::min(max, max_bound_);
    }
 
    double min_bound_;  
    double max_bound_;  
    std::size_t index_; 
  };
 
  void clear() override;
 
  random_numbers::RandomNumberGenerator random_number_generator_; 
  std::vector<JointInfo> bounds_; 
  std::vector<const moveit::core::JointModel*> unbounded_; 
  std::vector<unsigned int> uindex_; 
  std::vector<double> values_;       
};
 
struct IKSamplingPose
{
  IKSamplingPose();
 
  IKSamplingPose(const kinematic_constraints::PositionConstraint& pc);
 
  IKSamplingPose(const kinematic_constraints::OrientationConstraint& oc);
 
  IKSamplingPose(const kinematic_constraints::PositionConstraint& pc,
                 const kinematic_constraints::OrientationConstraint& oc);
 
  IKSamplingPose(const kinematic_constraints::PositionConstraintPtr& pc);
 
  IKSamplingPose(const kinematic_constraints::OrientationConstraintPtr& oc);
 
  IKSamplingPose(const kinematic_constraints::PositionConstraintPtr& pc,
                 const kinematic_constraints::OrientationConstraintPtr& oc);
 
  kinematic_constraints::PositionConstraintPtr position_constraint_; 
  kinematic_constraints::OrientationConstraintPtr
      orientation_constraint_; 
};
 
MOVEIT_CLASS_FORWARD(IKConstraintSampler);  // Defines IKConstraintSamplerPtr, ConstPtr, WeakPtr... etc
 
class IKConstraintSampler : public ConstraintSampler
{
public:
  IKConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name)
    : ConstraintSampler(scene, group_name), random_number_generator_(random_numbers::RandomNumberGenerator())
  {
  }
 
  IKConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                      unsigned int seed)
    : ConstraintSampler(scene, group_name), random_number_generator_(random_numbers::RandomNumberGenerator(seed))
  {
  }
 
  bool configure(const moveit_msgs::msg::Constraints& constr) override;
 
  bool configure(const IKSamplingPose& sp);
 
  double getIKTimeout() const
  {
    return ik_timeout_;
  }
 
  void setIKTimeout(double timeout)
  {
    ik_timeout_ = timeout;
  }
 
  const kinematic_constraints::PositionConstraintPtr& getPositionConstraint() const
  {
    return sampling_pose_.position_constraint_;
  }
  const kinematic_constraints::OrientationConstraintPtr& getOrientationConstraint() const
  {
    return sampling_pose_.orientation_constraint_;
  }
 
  double getSamplingVolume() const;
 
  const std::string& getLinkName() const;
 
  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
              unsigned int max_attempts) override;
 
  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
  bool samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& quat, const moveit::core::RobotState& ks,
                  unsigned int max_attempts);
 
  const std::string& getName() const override
  {
    static const std::string SAMPLER_NAME = "IKConstraintSampler";
    return SAMPLER_NAME;
  }
 
protected:
  void clear() override;
 
  bool loadIKSolver();
 
  bool callIK(const geometry_msgs::msg::Pose& ik_query,
              const kinematics::KinematicsBase::IKCallbackFn& adapted_ik_validity_callback, double timeout,
              moveit::core::RobotState& state, bool use_as_seed);
  bool sampleHelper(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                    unsigned int max_attempts, bool project);
  bool validate(moveit::core::RobotState& state) const;
 
  random_numbers::RandomNumberGenerator random_number_generator_; 
  IKSamplingPose sampling_pose_;                                  
  kinematics::KinematicsBaseConstPtr kb_;                         
  double ik_timeout_;                                             
  std::string ik_frame_;                                          
  bool transform_ik_; 
  bool need_eef_to_ik_tip_transform_; 
  Eigen::Isometry3d eef_to_ik_tip_transform_; 
};
}  // namespace constraint_samplers