trajectory_generator_polyline.hpp

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#pragma once
 
#include <eigen3/Eigen/Eigen>
#include <kdl/rotational_interpolation_sa.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
 
#include <pilz_industrial_motion_planner/trajectory_generator.hpp>
#include <pilz_industrial_motion_planner/velocity_profile_atrap.hpp>
 
namespace pilz_industrial_motion_planner
{
// TODO date type of units
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoWaypointsSpecified, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(ConsicutiveColinearWaypoints,
                                   moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);

class TrajectoryGeneratorPolyline : public TrajectoryGenerator
{
public:
  TrajectoryGeneratorPolyline(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> setPathPolyline(const Eigen::Affine3d& start_pose,
                                             const std::vector<Eigen::Isometry3d>& waypoints,
                                             double smoothness_level) const;
};
 
}  // namespace pilz_industrial_motion_planner