joint_limits_container.cpp

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#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <cmath>
 
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <stdexcept>
#include <moveit/utils/logger.hpp>
 
namespace pilz_industrial_motion_planner
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.planners.pilz.joint_limits_container");
}
}  // namespace
bool JointLimitsContainer::addLimit(const std::string& joint_name,
                                    pilz_industrial_motion_planner::JointLimit joint_limit)
{
  if (joint_limit.has_deceleration_limits && joint_limit.max_deceleration >= 0)
  {
    RCLCPP_ERROR_STREAM(getLogger(), "joint_limit.max_deceleration MUST be negative!");
    return false;
  }
  const auto& insertion_result{ container_.insert(std::pair<std::string, JointLimit>(joint_name, joint_limit)) };
  if (!insertion_result.second)
  {
    RCLCPP_ERROR_STREAM(getLogger(), "joint_limit for joint " << joint_name << " already contained.");
    return false;
  }
  return true;
}
 
bool JointLimitsContainer::hasLimit(const std::string& joint_name) const
{
  return container_.find(joint_name) != container_.end();
}
 
size_t JointLimitsContainer::getCount() const
{
  return container_.size();
}
 
bool JointLimitsContainer::empty() const
{
  return container_.empty();
}
 
JointLimit JointLimitsContainer::getCommonLimit() const
{
  pilz_industrial_motion_planner::JointLimit common_limit;
  for (const auto& limit : container_)
  {
    updateCommonLimit(limit.second, common_limit);
  }
  return common_limit;
}
 
JointLimit JointLimitsContainer::getCommonLimit(const std::vector<std::string>& joint_names) const
{
  pilz_industrial_motion_planner::JointLimit common_limit;
  for (const auto& joint_name : joint_names)
  {
    updateCommonLimit(container_.at(joint_name), common_limit);
  }
  return common_limit;
}
 
JointLimit JointLimitsContainer::getLimit(const std::string& joint_name) const
{
  return container_.at(joint_name);
}
 
std::map<std::string, JointLimit>::const_iterator JointLimitsContainer::begin() const
{
  return container_.begin();
}
 
std::map<std::string, JointLimit>::const_iterator JointLimitsContainer::end() const
{
  return container_.end();
}
 
bool JointLimitsContainer::verifyPositionLimit(const std::string& joint_name, double joint_position) const
{
  return !hasLimit(joint_name) || !getLimit(joint_name).has_position_limits ||
         (joint_position >= getLimit(joint_name).min_position && joint_position <= getLimit(joint_name).max_position);
}
 
bool JointLimitsContainer::verifyVelocityLimit(const std::string& joint_name, double joint_velocity) const
{
  return !hasLimit(joint_name) || !getLimit(joint_name).has_velocity_limits ||
         fabs(joint_velocity) <= getLimit(joint_name).max_velocity;
}
 
bool JointLimitsContainer::verifyAccelerationLimit(const std::string& joint_name, double joint_acceleration) const
{
  return !hasLimit(joint_name) || !getLimit(joint_name).has_acceleration_limits ||
         fabs(joint_acceleration) <= getLimit(joint_name).max_acceleration;
}
 
bool JointLimitsContainer::verifyDecelerationLimit(const std::string& joint_name, double joint_acceleration) const
{
  return !hasLimit(joint_name) || !getLimit(joint_name).has_deceleration_limits ||
         fabs(joint_acceleration) <= -1.0 * getLimit(joint_name).max_deceleration;
}
 
void JointLimitsContainer::updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit)
{
  // check position limits
  if (joint_limit.has_position_limits)
  {
    double min_position = joint_limit.min_position;
    double max_position = joint_limit.max_position;
 
    common_limit.min_position =
        (!common_limit.has_position_limits) ? min_position : std::max(common_limit.min_position, min_position);
    common_limit.max_position =
        (!common_limit.has_position_limits) ? max_position : std::min(common_limit.max_position, max_position);
    common_limit.has_position_limits = true;
  }
 
  // check velocity limits
  if (joint_limit.has_velocity_limits)
  {
    double max_velocity = joint_limit.max_velocity;
    common_limit.max_velocity =
        (!common_limit.has_velocity_limits) ? max_velocity : std::min(common_limit.max_velocity, max_velocity);
    common_limit.has_velocity_limits = true;
  }
 
  // check acceleration limits
  if (joint_limit.has_acceleration_limits)
  {
    double max_acc = joint_limit.max_acceleration;
    common_limit.max_acceleration =
        (!common_limit.has_acceleration_limits) ? max_acc : std::min(common_limit.max_acceleration, max_acc);
    common_limit.has_acceleration_limits = true;
  }
 
  // check deceleration limits
  if (joint_limit.has_deceleration_limits)
  {
    double max_dec = joint_limit.max_deceleration;
    common_limit.max_deceleration =
        (!common_limit.has_deceleration_limits) ? max_dec : std::max(common_limit.max_deceleration, max_dec);
    common_limit.has_deceleration_limits = true;
  }
}
 
}  // namespace pilz_industrial_motion_planner