add_ruckig_traj_smoothing.cpp

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/* Author: Jack Center, Wyatt Rees, Andy Zelenak
 * Desc:  An adapter that uses ruckig (https://github.com/pantor/ruckig) to adapt the trajectory to be jerk-constrained and
 * time-optimal. It is necessary to run another trajectory generation algorithm before this adapter, because the
 * algorithm requires a fully configured trajectory as initial guess.
 */
 
#include <moveit/utils/logger.hpp>
#include <moveit/planning_interface/planning_response_adapter.h>
#include <moveit/trajectory_processing/ruckig_traj_smoothing.h>
#include <class_loader/class_loader.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
 
namespace default_planning_response_adapters
{
using namespace trajectory_processing;
 
class AddRuckigTrajectorySmoothing : public planning_interface::PlanningResponseAdapter
{
public:
  AddRuckigTrajectorySmoothing() : logger_(moveit::getLogger("add_ruckig_trajectory_smoothing"))
  {
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("AddRuckigTrajectorySmoothing");
  }
 
  void adapt(const planning_scene::PlanningSceneConstPtr& /*planning_scene*/,
             const planning_interface::MotionPlanRequest& req,
             planning_interface::MotionPlanResponse& res) const override
  {
    RCLCPP_DEBUG(logger_, " Running '%s'", getDescription().c_str());
    if (!res.trajectory)
    {
      RCLCPP_ERROR(
          logger_,
          "Cannot apply response adapter '%s' because MotionPlanResponse does not contain a trajectory to smooth.",
          getDescription().c_str());
      res.error_code = moveit::core::MoveItErrorCode::INVALID_MOTION_PLAN;
      return;
    }
 
    if (smoother_.applySmoothing(*res.trajectory, req.max_velocity_scaling_factor, req.max_acceleration_scaling_factor))
    {
      res.error_code = moveit::core::MoveItErrorCode::SUCCESS;
    }
    else
    {
      RCLCPP_ERROR(logger_, "Response adapter '%s' failed to smooth trajectory.", getDescription().c_str());
      res.error_code = moveit::core::MoveItErrorCode::FAILURE;
    }
  }
 
private:
  RuckigSmoothing smoother_;
  rclcpp::Logger logger_;
};
 
}  // namespace default_planning_response_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_response_adapters::AddRuckigTrajectorySmoothing,
                            planning_interface::PlanningResponseAdapter)