simple_sampler.h

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/* Author: Sebastian Jahr
   Description: Simple trajectory operator that samples the next global trajectory waypoint as local goal constraint
   based on the current robot state. When the waypoint is reached the index that marks the current local goal constraint
   is updated to the next global trajectory waypoint. Global trajectory updates simply replace the reference trajectory.
 */
 
#include <moveit/local_planner/trajectory_operator_interface.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
namespace moveit::hybrid_planning
{
class SimpleSampler : public TrajectoryOperatorInterface
{
public:
  SimpleSampler() = default;
  ~SimpleSampler() override = default;
 
  bool initialize([[maybe_unused]] const rclcpp::Node::SharedPtr& node,
                  const moveit::core::RobotModelConstPtr& robot_model, const std::string& group_name) override;
  moveit_msgs::action::LocalPlanner::Feedback
  addTrajectorySegment(const robot_trajectory::RobotTrajectory& new_trajectory) override;
  moveit_msgs::action::LocalPlanner::Feedback
  getLocalTrajectory(const moveit::core::RobotState& current_state,
                     robot_trajectory::RobotTrajectory& local_trajectory) override;
  double getTrajectoryProgress([[maybe_unused]] const moveit::core::RobotState& current_state) override;
  bool reset() override;
 
private:
  std::size_t
      next_waypoint_index_;  // Indicates which reference trajectory waypoint is the current local goal constrained
  moveit_msgs::action::LocalPlanner::Feedback feedback_;  // Empty feedback
  trajectory_processing::TimeOptimalTrajectoryGeneration time_parametrization_;
  const moveit::core::JointModelGroup* joint_group_;
};
}  // namespace moveit::hybrid_planning