add_time_optimal_parameterization.cpp

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/* Author: Ioan Sucan, Michael Ferguson */
 
#include <moveit/planning_interface/planning_response_adapter.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <class_loader/class_loader.hpp>
#include <moveit/utils/logger.hpp>
 
#include <default_response_adapter_parameters.hpp>
 
namespace default_planning_response_adapters
{
using namespace trajectory_processing;
 
class AddTimeOptimalParameterization : public planning_interface::PlanningResponseAdapter
{
public:
  AddTimeOptimalParameterization() : logger_(moveit::getLogger("add_time_optimal_parameterization"))
  {
  }
 
  void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
  {
    param_listener_ = std::make_unique<default_response_adapter_parameters::ParamListener>(node, parameter_namespace);
  }
 
  [[nodiscard]] std::string getDescription() const override
  {
    return std::string("AddTimeOptimalParameterization");
  }
 
  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 path.",
                   getDescription().c_str());
      res.error_code = moveit::core::MoveItErrorCode::INVALID_MOTION_PLAN;
      return;
    }
 
    const auto params = param_listener_->get_params().totg;
    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))
    {
      res.error_code = moveit::core::MoveItErrorCode::SUCCESS;
    }
    else
    {
      RCLCPP_ERROR(logger_, "Response adapter '%s' failed to generate a trajectory.", getDescription().c_str());
      res.error_code = moveit::core::MoveItErrorCode::FAILURE;
    }
  }
 
protected:
  std::unique_ptr<default_response_adapter_parameters::ParamListener> param_listener_;
  rclcpp::Logger logger_;
};
 
}  // namespace default_planning_response_adapters
 
CLASS_LOADER_REGISTER_CLASS(default_planning_response_adapters::AddTimeOptimalParameterization,
                            planning_interface::PlanningResponseAdapter)