add_time_optimal_parameterization.cpp

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/* Author: Ioan Sucan, Michael Ferguson */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <class_loader/class_loader.hpp>
#include <moveit/utils/logger.hpp>
 
#include <default_plan_request_adapter_parameters.hpp>
 
namespace default_planner_request_adapters
{
using namespace trajectory_processing;
 
class AddTimeOptimalParameterization : public planning_request_adapter::PlanningRequestAdapter
{
public:
  AddTimeOptimalParameterization() : logger_(moveit::makeChildLogger("add_time_optimal_parameterization"))
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    param_listener_ =
        std::make_unique<default_plan_request_adapter_parameters::ParamListener>(node, parameter_namespace);
  }
 
  std::string getDescription() const override
  {
    return "Add Time Optimal Parameterization";
  }
 
  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req,
                    planning_interface::MotionPlanResponse& res) const override
  {
    bool result = planner(planning_scene, req, res);
    if (result && res.trajectory)
    {
      RCLCPP_DEBUG(logger_, " Running '%s'", getDescription().c_str());
      const auto params = param_listener_->get_params();
      TimeOptimalTrajectoryGeneration totg(params.path_tolerance, params.resample_dt, params.min_angle_change);
      if (!totg.computeTimeStamps(*res.trajectory, req.max_velocity_scaling_factor, req.max_acceleration_scaling_factor))
      {
        RCLCPP_WARN(logger_, " Time parametrization for the solution path failed.");
        result = false;
      }
    }
 
    return result;
  }
 
protected:
  std::unique_ptr<default_plan_request_adapter_parameters::ParamListener> param_listener_;
  rclcpp::Logger logger_;
};
 
}  // namespace default_planner_request_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddTimeOptimalParameterization,
                            planning_request_adapter::PlanningRequestAdapter)