forward_trajectory.h

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/* Author: Sebastian Jahr
   Description: Simple local solver plugin that forwards the next waypoint of the sampled local trajectory.
   The local solver stops for two conditions: invalid waypoint (likely due to collision) or if it has been stuck for
   several iterations.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <moveit/local_planner/local_constraint_solver_interface.h>
 
namespace moveit::hybrid_planning
{
class ForwardTrajectory : public LocalConstraintSolverInterface
{
public:
  ForwardTrajectory() = default;
  ~ForwardTrajectory() override = default;
  bool initialize(const rclcpp::Node::SharedPtr& node,
                  const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                  const std::string& /* unused */) override;
  bool reset() override;
 
  moveit_msgs::action::LocalPlanner::Feedback
  solve(const robot_trajectory::RobotTrajectory& local_trajectory,
        const std::shared_ptr<const moveit_msgs::action::LocalPlanner::Goal> /* unused */,
        trajectory_msgs::msg::JointTrajectory& local_solution) override;
 
private:
  rclcpp::Node::SharedPtr node_;
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  bool path_invalidation_event_send_;  // Send path invalidation event only once
  bool stop_before_collision_;
 
  // Detect when the local planner gets stuck
  size_t num_iterations_stuck_;
  moveit::core::RobotStatePtr prev_waypoint_target_;
};
}  // namespace moveit::hybrid_planning