robot_trajectory.h

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/* Author: Ioan Sucan, Adam Leeper */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <deque>
#include <memory>
#include <optional>
 
#include <rcl/error_handling.h>
#include <rcl/time.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
 
namespace robot_trajectory
{
MOVEIT_CLASS_FORWARD(RobotTrajectory);  // Defines RobotTrajectoryPtr, ConstPtr, WeakPtr... etc
 
class RobotTrajectory
{
public:
  explicit RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model);
 
  RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group);
 
  RobotTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const moveit::core::JointModelGroup* group);
 
  RobotTrajectory& operator=(const RobotTrajectory&) = default;
 
  RobotTrajectory(const RobotTrajectory& other, bool deepcopy = false);
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return robot_model_;
  }
 
  const moveit::core::JointModelGroup* getGroup() const
  {
    return group_;
  }
 
  const std::string& getGroupName() const;
 
  RobotTrajectory& setGroupName(const std::string& group_name)
  {
    group_ = robot_model_->getJointModelGroup(group_name);
    return *this;
  }
 
  std::size_t getWayPointCount() const
  {
    return waypoints_.size();
  }
 
  std::size_t size() const
  {
    assert(waypoints_.size() == duration_from_previous_.size());
    return waypoints_.size();
  }
 
  const moveit::core::RobotState& getWayPoint(std::size_t index) const
  {
    return *waypoints_[index];
  }
 
  const moveit::core::RobotState& getLastWayPoint() const
  {
    return *waypoints_.back();
  }
 
  const moveit::core::RobotState& getFirstWayPoint() const
  {
    return *waypoints_.front();
  }
 
  moveit::core::RobotStatePtr& getWayPointPtr(std::size_t index)
  {
    return waypoints_[index];
  }
 
  moveit::core::RobotStatePtr& getLastWayPointPtr()
  {
    return waypoints_.back();
  }
 
  moveit::core::RobotStatePtr& getFirstWayPointPtr()
  {
    return waypoints_.front();
  }
 
  const std::deque<double>& getWayPointDurations() const
  {
    return duration_from_previous_;
  }
 
  double getWayPointDurationFromStart(std::size_t index) const;
 
  [[deprecated]] double getWaypointDurationFromStart(std::size_t index) const;
 
  double getWayPointDurationFromPrevious(std::size_t index) const
  {
    if (duration_from_previous_.size() > index)
      return duration_from_previous_[index];
    else
      return 0.0;
  }
 
  RobotTrajectory& setWayPointDurationFromPrevious(std::size_t index, double value)
  {
    if (duration_from_previous_.size() <= index)
      duration_from_previous_.resize(index + 1, 0.0);
    duration_from_previous_[index] = value;
    return *this;
  }
 
  bool empty() const
  {
    return waypoints_.empty();
  }
 
  RobotTrajectory& addSuffixWayPoint(const moveit::core::RobotState& state, double dt)
  {
    return addSuffixWayPoint(std::make_shared<moveit::core::RobotState>(state), dt);
  }
 
  RobotTrajectory& addSuffixWayPoint(const moveit::core::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.push_back(state);
    duration_from_previous_.push_back(dt);
    return *this;
  }
 
  RobotTrajectory& addPrefixWayPoint(const moveit::core::RobotState& state, double dt)
  {
    return addPrefixWayPoint(std::make_shared<moveit::core::RobotState>(state), dt);
  }
 
  RobotTrajectory& addPrefixWayPoint(const moveit::core::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.push_front(state);
    duration_from_previous_.push_front(dt);
    return *this;
  }
 
  RobotTrajectory& insertWayPoint(std::size_t index, const moveit::core::RobotState& state, double dt)
  {
    return insertWayPoint(index, std::make_shared<moveit::core::RobotState>(state), dt);
  }
 
  RobotTrajectory& insertWayPoint(std::size_t index, const moveit::core::RobotStatePtr& state, double dt)
  {
    state->update();
    waypoints_.insert(waypoints_.begin() + index, state);
    duration_from_previous_.insert(duration_from_previous_.begin() + index, dt);
    return *this;
  }
 
  RobotTrajectory& append(const RobotTrajectory& source, double dt, size_t start_index = 0,
                          size_t end_index = std::numeric_limits<std::size_t>::max());
 
  void swap(robot_trajectory::RobotTrajectory& other);
 
  RobotTrajectory& clear()
  {
    waypoints_.clear();
    duration_from_previous_.clear();
    return *this;
  }
 
  double getDuration() const;
 
  double getAverageSegmentDuration() const;
 
  void getRobotTrajectoryMsg(moveit_msgs::msg::RobotTrajectory& trajectory,
                             const std::vector<std::string>& joint_filter = std::vector<std::string>()) const;
 
  RobotTrajectory& setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                         const trajectory_msgs::msg::JointTrajectory& trajectory);
 
  RobotTrajectory& setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                         const moveit_msgs::msg::RobotTrajectory& trajectory);
 
  RobotTrajectory& setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
                                         const moveit_msgs::msg::RobotState& state,
                                         const moveit_msgs::msg::RobotTrajectory& trajectory);
 
  RobotTrajectory& reverse();
 
  RobotTrajectory& unwind();
  RobotTrajectory& unwind(const moveit::core::RobotState& state);
 
  void findWayPointIndicesForDurationAfterStart(const double& duration, int& before, int& after, double& blend) const;
 
  // TODO support visitor function for interpolation, or at least different types.
  bool getStateAtDurationFromStart(const double request_duration, moveit::core::RobotStatePtr& output_state) const;
 
  class Iterator
  {
    std::deque<moveit::core::RobotStatePtr>::iterator waypoint_iterator_;
    std::deque<double>::iterator duration_iterator_;
 
  public:
    explicit Iterator(const std::deque<moveit::core::RobotStatePtr>::iterator& waypoint_iterator,
                      const std::deque<double>::iterator& duration_iterator)
      : waypoint_iterator_(waypoint_iterator), duration_iterator_(duration_iterator)
    {
    }
    Iterator& operator++()
    {
      waypoint_iterator_++;
      duration_iterator_++;
      return *this;
    }
    Iterator operator++(int)
    {
      Iterator retval = *this;
      ++(*this);
      return retval;
    }
    bool operator==(const Iterator& other) const
    {
      return ((waypoint_iterator_ == other.waypoint_iterator_) && (duration_iterator_ == other.duration_iterator_));
    }
    bool operator!=(const Iterator& other) const
    {
      return !(*this == other);
    }
    std::pair<moveit::core::RobotStatePtr, double> operator*() const
    {
      return std::pair{ *waypoint_iterator_, *duration_iterator_ };
    }
 
    // iterator traits
    using difference_type = long;
    using value_type = std::pair<moveit::core::RobotStatePtr, double>;
    using pointer = const std::pair<moveit::core::RobotStatePtr, double>*;
    using reference = std::pair<moveit::core::RobotStatePtr, double>;
    using iterator_category = std::input_iterator_tag;
  };
 
  RobotTrajectory::Iterator begin()
  {
    assert(waypoints_.size() == duration_from_previous_.size());
    return Iterator(waypoints_.begin(), duration_from_previous_.begin());
  }
  RobotTrajectory::Iterator end()
  {
    assert(waypoints_.size() == duration_from_previous_.size());
    return Iterator(waypoints_.end(), duration_from_previous_.end());
  }
  void print(std::ostream& out, std::vector<int> variable_indexes = std::vector<int>()) const;
 
private:
  moveit::core::RobotModelConstPtr robot_model_;
  const moveit::core::JointModelGroup* group_;
  std::deque<moveit::core::RobotStatePtr> waypoints_;
  std::deque<double> duration_from_previous_;
  rclcpp::Clock clock_ros_;
};
 
std::ostream& operator<<(std::ostream& out, const RobotTrajectory& trajectory);
 
[[nodiscard]] double path_length(RobotTrajectory const& trajectory);
 
[[nodiscard]] std::optional<double> smoothness(RobotTrajectory const& trajectory);
 
[[nodiscard]] std::optional<double> waypoint_density(RobotTrajectory const& trajectory);
 
}  // namespace robot_trajectory