command_list_manager.h

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#pragma once
 
#include <string>
 
#include <memory>
#include <functional>
 
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit_msgs/msg/motion_plan_response.hpp>
#include <moveit_msgs/msg/motion_sequence_request.hpp>
 
#include <pilz_industrial_motion_planner/plan_components_builder.h>
#include <pilz_industrial_motion_planner/trajectory_blender.h>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.h>
 
#include <cartesian_limits_parameters.hpp>
 
namespace pilz_industrial_motion_planner
{
using RobotTrajCont = std::vector<robot_trajectory::RobotTrajectoryPtr>;
 
// List of exceptions which can be thrown by the CommandListManager class.
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NegativeBlendRadiusException,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LastBlendRadiusNotZeroException,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateSetException, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OverlappingBlendRadiiException,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PlanningPipelineException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
class CommandListManager
{
public:
  CommandListManager(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& model);
 
  RobotTrajCont solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                      const planning_pipeline::PlanningPipelinePtr& planning_pipeline,
                      const moveit_msgs::msg::MotionSequenceRequest& req_list);
 
private:
  using MotionResponseCont = std::vector<planning_interface::MotionPlanResponse>;
  using RobotState_OptRef = const std::optional<std::reference_wrapper<const moveit::core::RobotState>>;
  using RadiiCont = std::vector<double>;
  using GroupNamesCont = std::vector<std::string>;
 
private:
  void checkForOverlappingRadii(const MotionResponseCont& resp_cont, const RadiiCont& radii) const;
 
  MotionResponseCont solveSequenceItems(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                        const planning_pipeline::PlanningPipelinePtr& planning_pipeline,
                                        const moveit_msgs::msg::MotionSequenceRequest& req_list) const;
 
  bool checkRadiiForOverlap(const robot_trajectory::RobotTrajectory& traj_A, const double radii_A,
                            const robot_trajectory::RobotTrajectory& traj_B, const double radii_B) const;
 
private:
  static RobotState_OptRef getPreviousEndState(const MotionResponseCont& motion_plan_responses,
                                               const std::string& group_name);
 
  static void setStartState(const MotionResponseCont& motion_plan_responses, const std::string& group_name,
                            moveit_msgs::msg::RobotState& start_state);
 
  static RadiiCont extractBlendRadii(const moveit::core::RobotModel& model,
                                     const moveit_msgs::msg::MotionSequenceRequest& req_list);
 
  static bool isInvalidBlendRadii(const moveit::core::RobotModel& model,
                                  const moveit_msgs::msg::MotionSequenceItem& item_A,
                                  const moveit_msgs::msg::MotionSequenceItem& item_B);
 
  static void checkForNegativeRadii(const moveit_msgs::msg::MotionSequenceRequest& req_list);
 
  static void checkLastBlendRadiusZero(const moveit_msgs::msg::MotionSequenceRequest& req_list);
 
  static void checkStartStatesOfGroup(const moveit_msgs::msg::MotionSequenceRequest& req_list,
                                      const std::string& group_name);
 
  static void checkStartStates(const moveit_msgs::msg::MotionSequenceRequest& req_list);
 
  static GroupNamesCont getGroupNames(const moveit_msgs::msg::MotionSequenceRequest& req_list);
 
private:
  const rclcpp::Node::SharedPtr node_;
 
  moveit::core::RobotModelConstPtr model_;
 
  PlanComponentsBuilder plan_comp_builder_;
 
  std::shared_ptr<cartesian_limits::ParamListener> param_listener_;
  cartesian_limits::Params params_;
};
 
inline void CommandListManager::checkLastBlendRadiusZero(const moveit_msgs::msg::MotionSequenceRequest& req_list)
{
  if (req_list.items.back().blend_radius != 0.0)
  {
    throw LastBlendRadiusNotZeroException("The last blending radius must be zero");
  }
}
 
}  // namespace pilz_industrial_motion_planner