chomp_trajectory.hpp

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/* Author: Mrinal Kalakrishnan */
 
#pragma once
 
#include <chomp_motion_planner/chomp_utils.hpp>
#include <moveit/robot_model/robot_model.hpp>
 
#include <eigen3/Eigen/Core>
#include <moveit_msgs/msg/motion_plan_detailed_response.hpp>
#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <vector>
 
namespace chomp
{
class ChompTrajectory
{
public:
  ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_model, double duration, double discretization,
                  const std::string& group_name);
 
  ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_model, size_t num_points, double discretization,
                  const std::string& group_name);
 
  ChompTrajectory(const ChompTrajectory& source_traj, const std::string& group_name, int diff_rule_length);
 
  ChompTrajectory(const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name,
                  const trajectory_msgs::msg::JointTrajectory& traj);
 
  virtual ~ChompTrajectory() = default;
 
  double& operator()(size_t traj_point, size_t joint);
 
  double operator()(size_t traj_point, size_t joint) const;
 
  Eigen::MatrixXd::RowXpr getTrajectoryPoint(int traj_point);
 
  Eigen::MatrixXd::ColXpr getJointTrajectory(int joint);
 
  size_t getNumPoints() const;
 
  size_t getNumFreePoints() const;
 
  size_t getNumJoints() const;
 
  double getDiscretization() const;
 
  void fillInMinJerk();
 
  void fillInLinearInterpolation();
 
  void fillInCubicInterpolation();
 
  bool fillInFromTrajectory(const robot_trajectory::RobotTrajectory& trajectory);
 
  void assignCHOMPTrajectoryPointFromRobotState(const moveit::core::RobotState& source, size_t chomp_trajectory_point,
                                                const moveit::core::JointModelGroup* group);
 
  void setStartEndIndex(size_t start_index, size_t end_index);
 
  size_t getStartIndex() const;
 
  size_t getEndIndex() const;
 
  Eigen::MatrixXd& getTrajectory();
 
  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> getFreeTrajectoryBlock();
 
  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> getFreeJointTrajectoryBlock(size_t joint);
 
  void updateFromGroupTrajectory(const ChompTrajectory& group_trajectory);
 
  size_t getFullTrajectoryIndex(size_t i) const;
 
  template <typename Derived>
  void getJointVelocities(size_t traj_point, Eigen::MatrixBase<Derived>& velocities);
 
  double getDuration() const;
 
private:
  void init(); 
  std::string planning_group_name_;  //< Planning group that this trajectory corresponds to, if any
  size_t num_points_;                //< Number of points in the trajectory
  size_t num_joints_;                //< Number of joints in each trajectory point
  double discretization_;            //< Discretization of the trajectory
  double duration_;                  //< Duration of the trajectory
  Eigen::MatrixXd trajectory_;       //< Storage for the actual trajectory
  size_t start_index_;  // Start index (inclusive) of trajectory to be optimized (everything before will be ignored)
  size_t end_index_;    //< End index (inclusive) of trajectory to be optimized (everything after will be ignored)
  std::vector<size_t> full_trajectory_index_;  //< If this is a "group" trajectory, the indices from the original traj
};
 
 
inline double& ChompTrajectory::operator()(size_t traj_point, size_t joint)
{
  return trajectory_(traj_point, joint);
}
 
inline double ChompTrajectory::operator()(size_t traj_point, size_t joint) const
{
  return trajectory_(traj_point, joint);
}
 
inline Eigen::MatrixXd::RowXpr ChompTrajectory::getTrajectoryPoint(int traj_point)
{
  return trajectory_.row(traj_point);
}
 
inline Eigen::MatrixXd::ColXpr ChompTrajectory::getJointTrajectory(int joint)
{
  return trajectory_.col(joint);
}
 
inline size_t ChompTrajectory::getNumPoints() const
{
  return num_points_;
}
 
inline size_t ChompTrajectory::getNumFreePoints() const
{
  return (end_index_ - start_index_) + 1;
}
 
inline size_t ChompTrajectory::getNumJoints() const
{
  return num_joints_;
}
 
inline double ChompTrajectory::getDiscretization() const
{
  return discretization_;
}
 
inline void ChompTrajectory::setStartEndIndex(size_t start_index, size_t end_index)
{
  start_index_ = start_index;
  end_index_ = end_index;
}
 
inline size_t ChompTrajectory::getStartIndex() const
{
  return start_index_;
}
 
inline size_t ChompTrajectory::getEndIndex() const
{
  return end_index_;
}
 
inline Eigen::MatrixXd& ChompTrajectory::getTrajectory()
{
  return trajectory_;
}
 
inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> ChompTrajectory::getFreeTrajectoryBlock()
{
  return trajectory_.block(start_index_, 0, getNumFreePoints(), getNumJoints());
}
 
inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic>
ChompTrajectory::getFreeJointTrajectoryBlock(size_t joint)
{
  return trajectory_.block(start_index_, joint, getNumFreePoints(), 1);
}
 
inline size_t ChompTrajectory::getFullTrajectoryIndex(size_t i) const
{
  return full_trajectory_index_[i];
}
 
template <typename Derived>
void ChompTrajectory::getJointVelocities(size_t traj_point, Eigen::MatrixBase<Derived>& velocities)
{
  velocities.setZero();
  double inv_time = 1.0 / discretization_;
 
  for (int k = -DIFF_RULE_LENGTH / 2; k <= DIFF_RULE_LENGTH / 2; ++k)
  {
    velocities += (inv_time * DIFF_RULES[0][k + DIFF_RULE_LENGTH / 2]) * trajectory_.row(traj_point + k).transpose();
  }
}
 
inline double ChompTrajectory::getDuration() const
{
  return duration_;
}
}  // namespace chomp