path_polyline_generator.hpp

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#pragma once
 
#include <kdl/path.hpp>
#include <kdl/path_roundedcomposite.hpp>
#include <kdl/rotational_interpolation_sa.hpp>
#include <kdl/utilities/error.h>
 
#include <memory>
 
namespace pilz_industrial_motion_planner
{
class PathPolylineGenerator
{
public:
  static std::unique_ptr<KDL::Path> polylineFromWaypoints(const KDL::Frame& start_pose,
                                                          const std::vector<KDL::Frame>& waypoints,
                                                          KDL::RotationalInterpolation* rot_interpo, double smoothness,
                                                          double eqradius);

  static std::vector<KDL::Frame> filterWaypoints(const KDL::Frame& start_pose, const std::vector<KDL::Frame>& waypoints);
  static double computeBlendRadius(const std::vector<KDL::Frame>& waypoints_, double smoothness);
  static void checkConsecutiveColinearWaypoints(const KDL::Frame& p1, const KDL::Frame& p2, const KDL::Frame& p3);
 
private:
  PathPolylineGenerator(){};  // no instantiation of this helper class!
 
  static constexpr double MIN_SEGMENT_LENGTH{ 0.2e-3 };
  static constexpr double MIN_SMOOTHNESS{ 0.01 };
  static constexpr double MAX_SMOOTHNESS{ 0.99 };
  static constexpr double MIN_COLINEAR_NORM{ 1e-9 };
};
 
class ErrorMotionPlanningColinearConsicutiveWaypoints : public KDL::Error_MotionPlanning
{
public:
  const char* Description() const override
  {
    return "Three collinear consecutive waypoints."
           " A Polyline Path cannot be created.";
  }
  int GetType() const override
  {
    return ERROR_CODE_COLINEAR_CONSECUTIVE_WAYPOINTS;
  }  // LCOV_EXCL_LINE
 
private:
  static constexpr int ERROR_CODE_COLINEAR_CONSECUTIVE_WAYPOINTS{ 3104 };
};
 
}  // namespace pilz_industrial_motion_planner