constraint_sampler_tools.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/constraint_samplers/constraint_sampler_tools.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/duration.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/time.hpp>
#include <moveit/utils/logger.hpp>
 
namespace constraint_samplers
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.core.constraint_sampler_tools");
}
}  // namespace
 
void visualizeDistribution(const moveit_msgs::msg::Constraints& constr,
                           const planning_scene::PlanningSceneConstPtr& scene, const std::string& group,
                           const std::string& link_name, unsigned int sample_count,
                           visualization_msgs::msg::MarkerArray& markers)
{
  visualizeDistribution(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState(),
                        link_name, sample_count, markers);
}
 
double countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr,
                             const planning_scene::PlanningSceneConstPtr& scene, const std::string& group)
{
  return countSamplesPerSecond(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr),
                               scene->getCurrentState());
}
 
double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state)
{
  if (!sampler)
  {
    RCLCPP_ERROR(getLogger(), "No sampler specified for counting samples per second");
    return 0.0;
  }
  moveit::core::RobotState ks(reference_state);
  unsigned long int valid = 0;
  unsigned long int total = 0;
  rclcpp::Time end = rclcpp::Clock().now() + rclcpp::Duration::from_seconds(1);
  do
  {
    static const unsigned int N = 10;
    total += N;
    for (unsigned int i = 0; i < N; ++i)
    {
      if (sampler->sample(ks, 1))
        valid++;
    }
  } while (rclcpp::Clock().now() < end);
  return static_cast<double>(valid) / static_cast<double>(total);
}
 
void visualizeDistribution(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state,
                           const std::string& link_name, unsigned int sample_count,
                           visualization_msgs::msg::MarkerArray& markers)
{
  if (!sampler)
  {
    RCLCPP_ERROR(getLogger(), "No sampler specified for visualizing distribution of samples");
    return;
  }
  const moveit::core::LinkModel* lm = reference_state.getLinkModel(link_name);
  if (!lm)
    return;
  moveit::core::RobotState ks(reference_state);
  std_msgs::msg::ColorRGBA color;
  color.r = 1.0f;
  color.g = 0.0f;
  color.b = 0.0f;
  color.a = 1.0f;
  for (unsigned int i = 0; i < sample_count; ++i)
  {
    if (!sampler->sample(ks))
      continue;
    const Eigen::Vector3d& pos = ks.getGlobalLinkTransform(lm).translation();
    visualization_msgs::msg::Marker mk;
    mk.header.stamp = rclcpp::Clock(RCL_ROS_TIME).now();
    mk.header.frame_id = sampler->getJointModelGroup()->getParentModel().getModelFrame();
    mk.ns = "constraint_samples";
    mk.id = i;
    mk.type = visualization_msgs::msg::Marker::SPHERE;
    mk.action = visualization_msgs::msg::Marker::ADD;
    mk.pose.position.x = pos.x();
    mk.pose.position.y = pos.y();
    mk.pose.position.z = pos.z();
    mk.pose.orientation.w = 1.0;
    mk.scale.x = mk.scale.y = mk.scale.z = 0.035;
    mk.color = color;
    mk.lifetime = rclcpp::Duration::from_seconds(30);
    markers.markers.push_back(mk);
  }
}
}  // namespace constraint_samplers