trajectory_generator_circ.hpp

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#pragma once
 
#include <eigen3/Eigen/Eigen>
#include <kdl/path.hpp>
#include <kdl/velocityprofile.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
 
#include <pilz_industrial_motion_planner/trajectory_generator.hpp>
 
namespace pilz_industrial_motion_planner
{
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleNoPlane, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleToSmall, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CenterPointDifferentRadius, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircTrajectoryConversionFailure,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPathConstraintName, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPositionConstraints, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePose, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownLinkNameOfAuxiliaryPoint,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_LINK_NAME);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NumberOfConstraintsMismatch,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);

class TrajectoryGeneratorCIRC : public TrajectoryGenerator
{
public:
  TrajectoryGeneratorCIRC(const moveit::core::RobotModelConstPtr& robot_model,
                          const pilz_industrial_motion_planner::LimitsContainer& planner_limits,
                          const std::string& group_name);
 
private:
  void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const override;
 
  void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
                             const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
 
  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) override;

  std::unique_ptr<KDL::Path> setPathCIRC(const MotionPlanInfo& info) const;
};
 
}  // namespace pilz_industrial_motion_planner