moveit2
The MoveIt Motion Planning Framework for ROS 2.
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trajectory_functions.h
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34
35#pragma once
36
37#include <Eigen/Geometry>
38#include <kdl/trajectory.hpp>
42#include <tf2/transform_datatypes.h>
43#include <trajectory_msgs/msg/multi_dof_joint_trajectory.hpp>
45
48
50{
66bool computePoseIK(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
67 const std::string& link_name, const Eigen::Isometry3d& pose, const std::string& frame_id,
68 const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
69 bool check_self_collision = true, const double timeout = 0.0);
70
71bool computePoseIK(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
72 const std::string& link_name, const geometry_msgs::msg::Pose& pose, const std::string& frame_id,
73 const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
74 bool check_self_collision = true, const double timeout = 0.0);
75
84bool computeLinkFK(const planning_scene::PlanningSceneConstPtr& scene, const std::string& link_name,
85 const std::map<std::string, double>& joint_state, Eigen::Isometry3d& pose);
86
87bool computeLinkFK(const planning_scene::PlanningSceneConstPtr& scene, const std::string& link_name,
88 const std::vector<std::string>& joint_names, const std::vector<double>& joint_positions,
89 Eigen::Isometry3d& pose);
90
104bool verifySampleJointLimits(const std::map<std::string, double>& position_last,
105 const std::map<std::string, double>& velocity_last,
106 const std::map<std::string, double>& position_current, double duration_last,
107 double duration_current, const JointLimitsContainer& joint_limits);
108
126bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr& scene,
127 const JointLimitsContainer& joint_limits, const KDL::Trajectory& trajectory,
128 const std::string& group_name, const std::string& link_name,
129 const std::map<std::string, double>& initial_joint_position, double sampling_time,
130 trajectory_msgs::msg::JointTrajectory& joint_trajectory,
131 moveit_msgs::msg::MoveItErrorCodes& error_code, bool check_self_collision = false);
132
143bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr& scene,
146 const std::string& group_name, const std::string& link_name,
147 const std::map<std::string, double>& initial_joint_position,
148 const std::map<std::string, double>& initial_joint_velocity,
149 trajectory_msgs::msg::JointTrajectory& joint_trajectory,
150 moveit_msgs::msg::MoveItErrorCodes& error_code, bool check_self_collision = false);
151
159bool determineAndCheckSamplingTime(const robot_trajectory::RobotTrajectoryPtr& first_trajectory,
160 const robot_trajectory::RobotTrajectoryPtr& second_trajectory, double EPSILON,
161 double& sampling_time);
162
176 const std::string& joint_group_name, double epsilon);
177
185bool isRobotStateStationary(const moveit::core::RobotState& state, const std::string& group, double EPSILON);
186
198bool linearSearchIntersectionPoint(const std::string& link_name, const Eigen::Vector3d& center_position, const double r,
199 const robot_trajectory::RobotTrajectoryPtr& traj, bool inverseOrder,
200 std::size_t& index);
201
202bool intersectionFound(const Eigen::Vector3d& p_center, const Eigen::Vector3d& p_current, const Eigen::Vector3d& p_next,
203 double r);
204
215bool isStateColliding(const bool test_for_self_collision, const planning_scene::PlanningSceneConstPtr& scene,
217 const double* const ik_solution);
218} // namespace pilz_industrial_motion_planner
219
220void normalizeQuaternion(geometry_msgs::msg::Quaternion& quat);
221
229Eigen::Isometry3d getConstraintPose(const geometry_msgs::msg::Point& position,
230 const geometry_msgs::msg::Quaternion& orientation,
231 const geometry_msgs::msg::Vector3& offset);
232
238Eigen::Isometry3d getConstraintPose(const moveit_msgs::msg::Constraints& goal);
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition robot_state.h:90
Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for l...
bool linearSearchIntersectionPoint(const std::string &link_name, const Eigen::Vector3d &center_position, const double r, const robot_trajectory::RobotTrajectoryPtr &traj, bool inverseOrder, std::size_t &index)
Performs a linear search for the intersection point of the trajectory with the blending radius.
bool isStateColliding(const bool test_for_self_collision, const planning_scene::PlanningSceneConstPtr &scene, moveit::core::RobotState *state, const moveit::core::JointModelGroup *const group, const double *const ik_solution)
Checks if current robot state is in self collision.
bool isRobotStateStationary(const moveit::core::RobotState &state, const std::string &group, double EPSILON)
check if the robot state have zero velocity/acceleration
bool determineAndCheckSamplingTime(const robot_trajectory::RobotTrajectoryPtr &first_trajectory, const robot_trajectory::RobotTrajectoryPtr &second_trajectory, double EPSILON, double &sampling_time)
Determines the sampling time and checks that both trajectroies use the same sampling time.
bool intersectionFound(const Eigen::Vector3d &p_center, const Eigen::Vector3d &p_current, const Eigen::Vector3d &p_next, double r)
bool verifySampleJointLimits(const std::map< std::string, double > &position_last, const std::map< std::string, double > &velocity_last, const std::map< std::string, double > &position_current, double duration_last, double duration_current, const JointLimitsContainer &joint_limits)
verify the velocity/acceleration limits of current sample (based on backward difference computation) ...
bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const KDL::Trajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, double sampling_time, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision=false)
Generate joint trajectory from a KDL Cartesian trajectory.
bool computePoseIK(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::string &link_name, const Eigen::Isometry3d &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, const double timeout=0.0)
compute the inverse kinematics of a given pose, also check robot self collision
bool isRobotStateEqual(const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const std::string &joint_group_name, double epsilon)
Check if the two robot states have the same joint position/velocity/acceleration.
bool computeLinkFK(const planning_scene::PlanningSceneConstPtr &scene, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Isometry3d &pose)
compute the pose of a link at give robot state
void normalizeQuaternion(geometry_msgs::msg::Quaternion &quat)
Eigen::Isometry3d getConstraintPose(const geometry_msgs::msg::Point &position, const geometry_msgs::msg::Quaternion &orientation, const geometry_msgs::msg::Vector3 &offset)
Adapt goal pose, defined by position+orientation, to consider offset.