simple_sampler.cpp

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#include <moveit/trajectory_operator_plugins/simple_sampler.h>
 
#include <moveit/kinematic_constraints/utils.h>
 
namespace moveit::hybrid_planning
{
namespace
{
constexpr double WAYPOINT_RADIAN_TOLERANCE = 0.2;  // rad: L1-norm sum for all joints
}  // namespace
 
bool SimpleSampler::initialize([[maybe_unused]] const rclcpp::Node::SharedPtr& node,
                               const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name)
{
  reference_trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, group_name);
  next_waypoint_index_ = 0;
  joint_group_ = robot_model->getJointModelGroup(group_name);
  return true;
}
 
moveit_msgs::action::LocalPlanner::Feedback
SimpleSampler::addTrajectorySegment(const robot_trajectory::RobotTrajectory& new_trajectory)
{
  // Reset trajectory operator to delete old reference trajectory
  reset();
 
  // Throw away old reference trajectory and use trajectory update
  reference_trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(new_trajectory);
 
  // Parametrize trajectory and calculate velocity and accelerations
  time_parametrization_.computeTimeStamps(*reference_trajectory_);
 
  // Return empty feedback
  return feedback_;
}
 
bool SimpleSampler::reset()
{
  // Reset index
  next_waypoint_index_ = 0;
  reference_trajectory_->clear();
  return true;
}
moveit_msgs::action::LocalPlanner::Feedback
SimpleSampler::getLocalTrajectory(const moveit::core::RobotState& current_state,
                                  robot_trajectory::RobotTrajectory& local_trajectory)
{
  if (reference_trajectory_->getWayPointCount() == 0)
  {
    feedback_.feedback = "unhandled_exception";
    return feedback_;
  }
 
  // Delete previous local trajectory
  local_trajectory.clear();
 
  // Get next desired robot state
  const moveit::core::RobotState next_desired_goal_state = reference_trajectory_->getWayPoint(next_waypoint_index_);
 
  // Check if state is reached
  if (next_desired_goal_state.distance(current_state, joint_group_) <= WAYPOINT_RADIAN_TOLERANCE)
  {
    // Update index (and thus desired robot state)
    next_waypoint_index_ = std::min(next_waypoint_index_ + 1, reference_trajectory_->getWayPointCount() - 1);
  }
 
  // Construct local trajectory containing the next global trajectory waypoint
  local_trajectory.addSuffixWayPoint(reference_trajectory_->getWayPoint(next_waypoint_index_),
                                     reference_trajectory_->getWayPointDurationFromPrevious(next_waypoint_index_));
 
  // Return empty feedback
  return feedback_;
}
 
double SimpleSampler::getTrajectoryProgress([[maybe_unused]] const moveit::core::RobotState& current_state)
{
  // Check if trajectory is unwinded
  if (next_waypoint_index_ >= reference_trajectory_->getWayPointCount() - 1)
  {
    return 1.0;
  }
  return 0.0;
}
}  // namespace moveit::hybrid_planning
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(moveit::hybrid_planning::SimpleSampler, moveit::hybrid_planning::TrajectoryOperatorInterface);