add a simple GeneratePose stage

ComputeIK is a wrapper, so we can't just give it a pose to compute.
This commit is contained in:
v4hn 2018-02-23 22:04:07 +01:00 committed by Robert Haschke
parent a82a48bb70
commit 76c6ba14fa
3 changed files with 165 additions and 0 deletions

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@ -0,0 +1,63 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2018, Hamburg University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Bielefeld University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Authors: Michael Goerner
Desc: Generator Stage for poses
*/
#pragma once
#include <moveit/task_constructor/stage.h>
#include <geometry_msgs/PoseStamped.h>
namespace moveit { namespace task_constructor { namespace stages {
class GeneratePose : public MonitoringGenerator {
public:
GeneratePose(const std::string& name);
bool canCompute() const override;
bool compute() override;
void setPose(const geometry_msgs::PoseStamped pose){
setProperty("pose", std::move(pose));
}
protected:
void onNewSolution(const SolutionBase& s) override;
std::deque<planning_scene::PlanningSceneConstPtr> scenes_;
};
} } }

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@ -5,6 +5,7 @@ add_library(${PROJECT_NAME}_stages
${PROJECT_INCLUDE}/stages/current_state.h
${PROJECT_INCLUDE}/stages/fixed_state.h
${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
${PROJECT_INCLUDE}/stages/generate_pose.h
${PROJECT_INCLUDE}/stages/compute_ik.h
${PROJECT_INCLUDE}/stages/connect.h
@ -24,6 +25,7 @@ add_library(${PROJECT_NAME}_stages
current_state.cpp
fixed_state.cpp
generate_grasp_pose.cpp
generate_pose.cpp
compute_ik.cpp
connect.cpp

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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Bielefeld + Hamburg University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Bielefeld University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Authors: Robert Haschke, Michael Goerner */
#include <moveit/task_constructor/stages/generate_pose.h>
#include <moveit/task_constructor/storage.h>
#include <moveit/task_constructor/marker_tools.h>
#include <rviz_marker_tools/marker_creation.h>
#include <moveit/planning_scene/planning_scene.h>
#include <Eigen/Geometry>
#include <eigen_conversions/eigen_msg.h>
namespace moveit { namespace task_constructor { namespace stages {
GeneratePose::GeneratePose(const std::string& name)
: MonitoringGenerator(name)
{
auto& p = properties();
p.declare<geometry_msgs::PoseStamped>("pose", "target pose to pass on in spawned states");
}
void GeneratePose::onNewSolution(const SolutionBase& s)
{
scenes_.push_back(s.end()->scene()->diff());
}
bool GeneratePose::canCompute() const {
return scenes_.size() > 0;
}
bool GeneratePose::compute(){
const auto& props = properties();
geometry_msgs::PoseStamped target_pose = props.get<geometry_msgs::PoseStamped>("pose");
if(scenes_.empty()) throw std::runtime_error("GeneratePose called without checking canCompute.");
planning_scene::PlanningSceneConstPtr scene = scenes_[0];
scenes_.pop_front();
// take care of frame transforms
const std::string& frame = target_pose.header.frame_id;
if( !frame.empty() && frame != scene->getPlanningFrame() ){
if ( !scene->knowsFrameTransform(frame) )
throw std::runtime_error("GeneratePose does not know frame '" + frame + "'");
Eigen::Affine3d pose;
tf::poseMsgToEigen(target_pose.pose, pose);
pose = scene->getFrameTransform(target_pose.header.frame_id) * pose;
tf::poseEigenToMsg(pose, target_pose.pose);
target_pose.header.frame_id = scene->getPlanningFrame();
}
InterfaceState state(scene);
state.properties().set("target_pose", target_pose);
SubTrajectory trajectory;
trajectory.setCost(0.0);
rviz_marker_tools::appendFrame(trajectory.markers(), target_pose, 0.1, "pose frame");
spawn(std::move(state), std::move(trajectory));
return true;
}
} } }