test_time_parameterization.cpp

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/* Author: Ken Anderson */
 
#include <gtest/gtest.h>
#include <fstream>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/trajectory_processing/iterative_spline_parameterization.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <rclcpp/rclcpp.hpp>
 
// Logger
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_trajectory_processing.test.test_time_parameterization");
 
// Static variables used in all tests
moveit::core::RobotModelConstPtr RMODEL = moveit::core::loadTestingRobotModel("pr2");
robot_trajectory::RobotTrajectory TRAJECTORY(RMODEL, "right_arm");
 
// Initialize one-joint, 3 points exactly the same.
int initRepeatedPointTrajectory(robot_trajectory::RobotTrajectory& trajectory)
{
  const int num = 3;
  unsigned i;
 
  const moveit::core::JointModelGroup* group = trajectory.getGroup();
  if (!group)
  {
    RCLCPP_ERROR(LOGGER, "Need to set the group");
    return -1;
  }
  // leave initial velocity/acceleration unset
  const std::vector<int>& idx = group->getVariableIndexList();
  moveit::core::RobotState state(trajectory.getRobotModel());
 
  trajectory.clear();
  for (i = 0; i < num; ++i)
  {
    state.setVariablePosition(idx[0], 1.0);
    trajectory.addSuffixWayPoint(state, 0.0);
  }
 
  return 0;
}
 
// Initialize one-joint, straight-line trajectory
int initStraightTrajectory(robot_trajectory::RobotTrajectory& trajectory)
{
  const int num = 10;
  const double max = 2.0;
  unsigned i;
 
  const moveit::core::JointModelGroup* group = trajectory.getGroup();
  if (!group)
  {
    RCLCPP_ERROR(LOGGER, "Need to set the group");
    return -1;
  }
  // leave initial velocity/acceleration unset
  const std::vector<int>& idx = group->getVariableIndexList();
  moveit::core::RobotState state(trajectory.getRobotModel());
 
  trajectory.clear();
  for (i = 0; i < num; ++i)
  {
    state.setVariablePosition(idx[0], i * max / num);
    trajectory.addSuffixWayPoint(state, 0.0);
  }
 
  // leave final velocity/acceleration unset
  state.setVariablePosition(idx[0], max);
  trajectory.addSuffixWayPoint(state, 0.0);
 
  return 0;
}
 
void printTrajectory(robot_trajectory::RobotTrajectory& trajectory)
{
  const moveit::core::JointModelGroup* group = trajectory.getGroup();
  const std::vector<int>& idx = group->getVariableIndexList();
  trajectory.print(std::cout, { idx[0] });
}
 
TEST(TestTimeParameterization, TestIterativeParabolic)
{
  trajectory_processing::IterativeParabolicTimeParameterization time_parameterization;
  EXPECT_EQ(initStraightTrajectory(TRAJECTORY), 0);
 
  auto wt = std::chrono::system_clock::now();
  EXPECT_TRUE(time_parameterization.computeTimeStamps(TRAJECTORY));
 
  std::cout << "IterativeParabolicTimeParameterization  took " << (std::chrono::system_clock::now() - wt).count()
            << '\n';
  printTrajectory(TRAJECTORY);
  ASSERT_LT(TRAJECTORY.getWayPointDurationFromStart(TRAJECTORY.getWayPointCount() - 1), 3.0);
}
 
TEST(TestTimeParameterization, TestIterativeSpline)
{
  trajectory_processing::IterativeSplineParameterization time_parameterization(false);
  EXPECT_EQ(initStraightTrajectory(TRAJECTORY), 0);
 
  auto wt = std::chrono::system_clock::now();
  EXPECT_TRUE(time_parameterization.computeTimeStamps(TRAJECTORY));
  std::cout << "IterativeSplineParameterization took " << (std::chrono::system_clock::now() - wt).count() << '\n';
  printTrajectory(TRAJECTORY);
  ASSERT_LT(TRAJECTORY.getWayPointDurationFromStart(TRAJECTORY.getWayPointCount() - 1), 5.0);
}
 
TEST(TestTimeParameterization, TestIterativeSplineAddPoints)
{
  trajectory_processing::IterativeSplineParameterization time_parameterization(true);
  EXPECT_EQ(initStraightTrajectory(TRAJECTORY), 0);
 
  auto wt = std::chrono::system_clock::now();
  EXPECT_TRUE(time_parameterization.computeTimeStamps(TRAJECTORY));
  std::cout << "IterativeSplineParameterization with added points took "
            << (std::chrono::system_clock::now() - wt).count() << '\n';
  printTrajectory(TRAJECTORY);
  ASSERT_LT(TRAJECTORY.getWayPointDurationFromStart(TRAJECTORY.getWayPointCount() - 1), 5.0);
}
 
TEST(TestTimeParameterization, TestRepeatedPoint)
{
  trajectory_processing::IterativeSplineParameterization time_parameterization(true);
  EXPECT_EQ(initRepeatedPointTrajectory(TRAJECTORY), 0);
 
  EXPECT_TRUE(time_parameterization.computeTimeStamps(TRAJECTORY));
  printTrajectory(TRAJECTORY);
  ASSERT_LT(TRAJECTORY.getWayPointDurationFromStart(TRAJECTORY.getWayPointCount() - 1), 0.001);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}