common.hpp

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/*      Title       : utils.hpp
 *      Project     : moveit_servo
 *      Created     : 05/17/2023
 *      Author      : Andy Zelenak, V Mohammed Ibrahim
 *
 *      Description : The utility functions used by MoveIt Servo.
 */
 
#pragma once
 
#include <moveit_servo_lib_parameters.hpp>
#include <moveit_servo/utils/datatypes.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_state/robot_state.h>
#include <sensor_msgs/msg/joint_state.hpp>
#include <std_msgs/msg/float64_multi_array.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
 
namespace moveit_servo
{
// A minimum of 3 points are used to help with interpolation when creating trajectory messages.
constexpr int MIN_POINTS_FOR_TRAJ_MSG = 3;
 
std::optional<std::string> getIKSolverBaseFrame(const moveit::core::RobotStatePtr& robot_state,
                                                const std::string& group_name);
 
std::optional<std::string> getIKSolverTipFrame(const moveit::core::RobotStatePtr& robot_state,
                                               const std::string& group_name);
 
bool isValidCommand(const Eigen::VectorXd& command);
 
bool isValidCommand(const Eigen::Isometry3d& command);
 
bool isValidCommand(const TwistCommand& command);
 
bool isValidCommand(const PoseCommand& command);
 
geometry_msgs::msg::Pose poseFromCartesianDelta(const Eigen::VectorXd& delta_x,
                                                const Eigen::Isometry3d& base_to_tip_frame_transform);
 
std::optional<trajectory_msgs::msg::JointTrajectory>
composeTrajectoryMessage(const servo::Params& servo_params, const std::deque<KinematicState>& joint_cmd_rolling_window);
 
void updateSlidingWindow(KinematicState& next_joint_state, std::deque<KinematicState>& joint_cmd_rolling_window,
                         double max_expected_latency, const rclcpp::Time& cur_time);
 
std_msgs::msg::Float64MultiArray composeMultiArrayMessage(const servo::Params& servo_params,
                                                          const KinematicState& joint_state);
 
std::pair<double, StatusCode> velocityScalingFactorForSingularity(const moveit::core::RobotStatePtr& robot_state,
                                                                  const Eigen::VectorXd& target_delta_x,
                                                                  const servo::Params& servo_params);
 
double jointLimitVelocityScalingFactor(const Eigen::VectorXd& velocities,
                                       const moveit::core::JointBoundsVector& joint_bounds, double scaling_override);
 
std::vector<size_t> jointVariablesToHalt(const Eigen::VectorXd& positions, const Eigen::VectorXd& velocities,
                                         const moveit::core::JointBoundsVector& joint_bounds,
                                         const std::vector<double>& margins);
 
geometry_msgs::msg::TransformStamped convertIsometryToTransform(const Eigen::Isometry3d& eigen_tf,
                                                                const std::string& parent_frame,
                                                                const std::string& child_frame);
 
PoseCommand poseFromPoseStamped(const geometry_msgs::msg::PoseStamped& msg);
 
planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor(const rclcpp::Node::SharedPtr& node,
                                                                           const servo::Params& servo_params);
 
KinematicState extractRobotState(const moveit::core::RobotStatePtr& robot_state, const std::string& move_group_name);
 
}  // namespace moveit_servo