get_cartesian_path_request_features.hpp

Go to the documentation of this file.

// Copyright 2024 Intrinsic Innovation LLC.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <warehouse_ros/message_collection.h>
#include <moveit/move_group_interface/move_group_interface.hpp>
#include <moveit_msgs/srv/get_cartesian_path.hpp>
 
#include <moveit/trajectory_cache/features/features_interface.hpp>
 
namespace moveit_ros
{
namespace trajectory_cache
{
 
// "Start" features. ===============================================================================
 
class CartesianWorkspaceFeatures final : public FeaturesInterface<moveit_msgs::srv::GetCartesianPath::Request>
{
public:
  CartesianWorkspaceFeatures();
 
  std::string getName() const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata,
                                 const moveit_msgs::srv::GetCartesianPath::Request& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const override;
 
private:
  const std::string name_;
};
 
class CartesianStartStateJointStateFeatures final
  : public FeaturesInterface<moveit_msgs::srv::GetCartesianPath::Request>
{
public:
  CartesianStartStateJointStateFeatures(double match_tolerance);
 
  std::string getName() const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata,
                                 const moveit_msgs::srv::GetCartesianPath::Request& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const override;
 
private:
  moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const;
 
  const std::string name_;
  const double match_tolerance_;
};
 
// "Goal" features. ================================================================================
 
class CartesianMaxSpeedAndAccelerationFeatures final
  : public FeaturesInterface<moveit_msgs::srv::GetCartesianPath::Request>
{
public:
  CartesianMaxSpeedAndAccelerationFeatures();
 
  std::string getName() const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata,
                                 const moveit_msgs::srv::GetCartesianPath::Request& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const override;
 
private:
  const std::string name_;
};
 
class CartesianMaxStepAndJumpThresholdFeatures final
  : public FeaturesInterface<moveit_msgs::srv::GetCartesianPath::Request>
{
public:
  CartesianMaxStepAndJumpThresholdFeatures();
 
  std::string getName() const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata,
                                 const moveit_msgs::srv::GetCartesianPath::Request& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const override;
 
private:
  const std::string name_;
};
 
class CartesianWaypointsFeatures final : public FeaturesInterface<moveit_msgs::srv::GetCartesianPath::Request>
{
public:
  CartesianWaypointsFeatures(double match_tolerance);
 
  std::string getName() const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata,
                                 const moveit_msgs::srv::GetCartesianPath::Request& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const override;
 
private:
  moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const;
 
  const std::string name_;
  const double match_tolerance_;
};
 
class CartesianPathConstraintsFeatures final : public FeaturesInterface<moveit_msgs::srv::GetCartesianPath::Request>
{
public:
  CartesianPathConstraintsFeatures(double match_tolerance);
 
  std::string getName() const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsFuzzyFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode appendFeaturesAsExactFetchQuery(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double exact_match_precision) const override;
 
  moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata,
                                 const moveit_msgs::srv::GetCartesianPath::Request& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const override;
 
private:
  moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance(
      warehouse_ros::Query& query, const moveit_msgs::srv::GetCartesianPath::Request& source,
      const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const;
 
  const std::string name_;
  const double match_tolerance_;
};
 
}  // namespace trajectory_cache
}  // namespace moveit_ros