trajectory_generator.hpp

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#pragma once
 
#include <sstream>
#include <string>
 
#include <Eigen/Geometry>
#include <kdl/frames.hpp>
#include <kdl/trajectory.hpp>
#include <moveit/planning_interface/planning_interface.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
 
#include <pilz_industrial_motion_planner/joint_limits_extension.hpp>
#include <pilz_industrial_motion_planner/limits_container.hpp>
#include <pilz_industrial_motion_planner/trajectory_functions.hpp>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.hpp>
 
namespace pilz_industrial_motion_planner
{
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(TrajectoryGeneratorInvalidLimitsException,
                                   moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(VelocityScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(AccelerationScalingIncorrect,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPlanningGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoJointNamesInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(SizeMismatchInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfStartStateOutOfRange,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NonZeroVelocityInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NotExactlyOneGoalConstraintGiven,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OnlyOneGoalTypeAllowed, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateGoalStateMismatch,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointConstraintDoesNotBelongToGroup,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfGoalOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionConstraintNameMissing,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OrientationConstraintNameMissing,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionOrientationConstraintNameMismatch,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoIKSolverAvailable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePoseGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);

class TrajectoryGenerator
{
public:
  TrajectoryGenerator(const moveit::core::RobotModelConstPtr& robot_model,
                      const pilz_industrial_motion_planner::LimitsContainer& planner_limits)
    : robot_model_(robot_model), planner_limits_(planner_limits), clock_(std::make_unique<rclcpp::Clock>())
  {
  }
 
  virtual ~TrajectoryGenerator() = default;

  void generate(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
                planning_interface::MotionPlanResponse& res, double sampling_time = 0.1);
 
protected:
  class MotionPlanInfo
  {
  public:
    MotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req);
 
    std::string group_name;
    std::string link_name;
    Eigen::Isometry3d start_pose;
    Eigen::Isometry3d goal_pose;
    std::vector<Eigen::Isometry3d> waypoints;
    std::map<std::string, double> start_joint_position;
    std::map<std::string, double> goal_joint_position;
    std::pair<std::string, Eigen::Vector3d> circ_path_point;
    planning_scene::PlanningSceneConstPtr start_scene;  // scene with updated start state
  };

  std::unique_ptr<KDL::VelocityProfile> cartesianTrapVelocityProfile(double max_velocity_scaling_factor,
                                                                     double max_acceleration_scaling_factor,
                                                                     const std::unique_ptr<KDL::Path>& path) const;
 
  void setMaxCartesianSpeed(const moveit_msgs::msg::MotionPlanRequest& req);
 
private:
  virtual void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const;

  virtual void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
                                     const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const = 0;
 
  virtual void plan(const planning_scene::PlanningSceneConstPtr& scene,
                    const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
                    double sampling_time, trajectory_msgs::msg::JointTrajectory& joint_trajectory) = 0;
 
private:
  void validateRequest(const planning_interface::MotionPlanRequest& req, const moveit::core::RobotState& rstate) const;

  void setSuccessResponse(const moveit::core::RobotState& start_rs, const std::string& group_name,
                          const trajectory_msgs::msg::JointTrajectory& joint_trajectory,
                          const rclcpp::Time& planning_start, planning_interface::MotionPlanResponse& res) const;
 
  void setFailureResponse(const rclcpp::Time& planning_start, planning_interface::MotionPlanResponse& res) const;
 
  void checkForValidGroupName(const std::string& group_name) const;

  void checkStartState(const moveit_msgs::msg::RobotState& start_state, const std::string& group) const;
 
  void checkGoalConstraints(const moveit_msgs::msg::MotionPlanRequest::_goal_constraints_type& goal_constraints,
                            const std::string& group_name, const moveit::core::RobotState& rstate) const;
 
  void checkJointGoalConstraint(const moveit_msgs::msg::Constraints& constraint, const std::string& group_name) const;
 
  void checkCartesianGoalConstraint(const moveit_msgs::msg::Constraints& constraint,
                                    const moveit::core::RobotState& robot_state,
                                    const moveit::core::JointModelGroup* const jmg) const;
 
private:
  sensor_msgs::msg::JointState filterGroupValues(const sensor_msgs::msg::JointState& robot_state,
                                                 const std::string& group) const;

  static bool isScalingFactorValid(double scaling_factor);
  static void checkVelocityScaling(double scaling_factor);
  static void checkAccelerationScaling(double scaling_factor);

  static bool isCartesianGoalGiven(const moveit_msgs::msg::Constraints& constraint);

  static bool isJointGoalGiven(const moveit_msgs::msg::Constraints& constraint);

  static bool isOnlyOneGoalTypeGiven(const moveit_msgs::msg::Constraints& constraint);
 
protected:
  const moveit::core::RobotModelConstPtr robot_model_;
  const pilz_industrial_motion_planner::LimitsContainer planner_limits_;
  double max_cartesian_speed_;
  static constexpr double MIN_SCALING_FACTOR{ 0.0001 };
  static constexpr double MAX_SCALING_FACTOR{ 1. };
  static constexpr double VELOCITY_TOLERANCE{ 1e-8 };
  const std::unique_ptr<rclcpp::Clock> clock_;
};
 
inline bool TrajectoryGenerator::isScalingFactorValid(double scaling_factor)
{
  return (scaling_factor > MIN_SCALING_FACTOR && scaling_factor <= MAX_SCALING_FACTOR);
}
 
inline bool TrajectoryGenerator::isCartesianGoalGiven(const moveit_msgs::msg::Constraints& constraint)
{
  return constraint.position_constraints.size() == 1 && constraint.orientation_constraints.size() == 1;
}
 
inline bool TrajectoryGenerator::isJointGoalGiven(const moveit_msgs::msg::Constraints& constraint)
{
  return !constraint.joint_constraints.empty();
}
 
inline bool TrajectoryGenerator::isOnlyOneGoalTypeGiven(const moveit_msgs::msg::Constraints& constraint)
{
  return (isJointGoalGiven(constraint) && !isCartesianGoalGiven(constraint)) ||
         (!isJointGoalGiven(constraint) && isCartesianGoalGiven(constraint));
}
 
}  // namespace pilz_industrial_motion_planner