mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
add path constraints to planner API
and use it in the Connect class. The cartesian planner ignores the constraints for now.
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b15c5adbd7
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@ -56,14 +56,16 @@ public:
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const planning_scene::PlanningSceneConstPtr to,
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const planning_scene::PlanningSceneConstPtr to,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result) override;
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr from,
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bool plan(const planning_scene::PlanningSceneConstPtr from,
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const moveit::core::LinkModel &link,
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const moveit::core::LinkModel &link,
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const Eigen::Affine3d& target,
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const Eigen::Affine3d& target,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result) override;
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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};
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};
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} } }
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} } }
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@ -62,14 +62,16 @@ public:
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const planning_scene::PlanningSceneConstPtr to,
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const planning_scene::PlanningSceneConstPtr to,
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const core::JointModelGroup *jmg,
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const core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result) override;
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr from,
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bool plan(const planning_scene::PlanningSceneConstPtr from,
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const moveit::core::LinkModel &link,
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const moveit::core::LinkModel &link,
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const Eigen::Affine3d& target,
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const Eigen::Affine3d& target,
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const core::JointModelGroup *jmg,
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const core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result) override;
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override;
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protected:
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protected:
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planning_pipeline::PlanningPipelinePtr planner_;
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planning_pipeline::PlanningPipelinePtr planner_;
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@ -39,6 +39,7 @@
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#pragma once
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#pragma once
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#include <moveit/macros/class_forward.h>
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#include <moveit/macros/class_forward.h>
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#include <moveit_msgs/Constraints.h>
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#include <moveit/task_constructor/properties.h>
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#include <moveit/task_constructor/properties.h>
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#include <Eigen/Geometry>
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#include <Eigen/Geometry>
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@ -78,7 +79,8 @@ public:
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const planning_scene::PlanningSceneConstPtr to,
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const planning_scene::PlanningSceneConstPtr to,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result) = 0;
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
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/// plan trajectory from current robot state to Cartesian target
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/// plan trajectory from current robot state to Cartesian target
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virtual bool plan(const planning_scene::PlanningSceneConstPtr from,
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virtual bool plan(const planning_scene::PlanningSceneConstPtr from,
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@ -86,7 +88,8 @@ public:
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const Eigen::Affine3d& target,
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const Eigen::Affine3d& target,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result) = 0;
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
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};
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};
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std::string getEndEffectorLink(const moveit::core::JointModelGroup *jmg);
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std::string getEndEffectorLink(const moveit::core::JointModelGroup *jmg);
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@ -41,12 +41,18 @@
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#include <moveit/task_constructor/stage.h>
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#include <moveit/task_constructor/stage.h>
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#include <moveit/task_constructor/solvers/planner_interface.h>
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#include <moveit/task_constructor/solvers/planner_interface.h>
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#include <moveit_msgs/Constraints.h>
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namespace moveit { namespace task_constructor { namespace stages {
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namespace moveit { namespace task_constructor { namespace stages {
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class Connect : public Connecting {
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class Connect : public Connecting {
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public:
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public:
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Connect(std::string name, const solvers::PlannerInterfacePtr &planner);
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Connect(std::string name, const solvers::PlannerInterfacePtr &planner);
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void setPathConstraints(moveit_msgs::Constraints path_constraints){
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setProperty("path_constraints", std::move(path_constraints));
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}
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void init(const moveit::core::RobotModelConstPtr& robot_model);
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void init(const moveit::core::RobotModelConstPtr& robot_model);
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bool compute(const InterfaceState &from, const InterfaceState &to);
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bool compute(const InterfaceState &from, const InterfaceState &to);
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@ -60,7 +60,8 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from,
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const planning_scene::PlanningSceneConstPtr to,
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const planning_scene::PlanningSceneConstPtr to,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result)
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& /*path_constraints*/)
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{
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{
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const moveit::core::LinkModel* link;
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const moveit::core::LinkModel* link;
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const std::string& link_name = solvers::getEndEffectorLink(jmg);
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const std::string& link_name = solvers::getEndEffectorLink(jmg);
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@ -78,7 +79,8 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from,
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const Eigen::Affine3d &target,
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const Eigen::Affine3d &target,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr &result)
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robot_trajectory::RobotTrajectoryPtr &result,
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const moveit_msgs::Constraints& /*path_constraints*/)
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{
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{
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const auto& props = properties();
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const auto& props = properties();
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planning_scene::PlanningScenePtr sandbox_scene = from->diff();
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planning_scene::PlanningScenePtr sandbox_scene = from->diff();
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@ -85,7 +85,8 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
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const planning_scene::PlanningSceneConstPtr to,
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const planning_scene::PlanningSceneConstPtr to,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result)
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints)
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{
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{
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const auto& props = properties();
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const auto& props = properties();
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moveit_msgs::MotionPlanRequest req;
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moveit_msgs::MotionPlanRequest req;
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@ -95,6 +96,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
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req.goal_constraints[0] = kinematic_constraints::constructGoalConstraints(
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req.goal_constraints[0] = kinematic_constraints::constructGoalConstraints(
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to->getCurrentState(), jmg,
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to->getCurrentState(), jmg,
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props.get<double>("goal_joint_tolerance"));
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props.get<double>("goal_joint_tolerance"));
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req.path_constraints = path_constraints;
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::planning_interface::MotionPlanResponse res;
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::planning_interface::MotionPlanResponse res;
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if(!planner_->generatePlan(from, req, res))
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if(!planner_->generatePlan(from, req, res))
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@ -109,8 +111,8 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
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const Eigen::Affine3d& target_eigen,
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const Eigen::Affine3d& target_eigen,
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const moveit::core::JointModelGroup *jmg,
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const moveit::core::JointModelGroup *jmg,
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double timeout,
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double timeout,
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robot_trajectory::RobotTrajectoryPtr& result)
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints)
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{
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{
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const auto& props = properties();
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const auto& props = properties();
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moveit_msgs::MotionPlanRequest req;
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moveit_msgs::MotionPlanRequest req;
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@ -125,6 +127,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
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link.getName(), target,
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link.getName(), target,
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props.get<double>("goal_position_tolerance"),
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props.get<double>("goal_position_tolerance"),
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props.get<double>("goal_orientation_tolerance"));
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props.get<double>("goal_orientation_tolerance"));
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req.path_constraints = path_constraints;
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::planning_interface::MotionPlanResponse res;
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::planning_interface::MotionPlanResponse res;
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if(!planner_->generatePlan(from, req, res))
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if(!planner_->generatePlan(from, req, res))
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@ -48,6 +48,8 @@ Connect::Connect(std::string name, const solvers::PlannerInterfacePtr& planner)
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auto& p = properties();
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auto& p = properties();
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p.declare<double>("timeout", 10.0, "planning timeout");
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p.declare<double>("timeout", 10.0, "planning timeout");
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p.declare<std::string>("group", "name of planning group");
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p.declare<std::string>("group", "name of planning group");
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p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
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"constraints to maintain during trajectory");
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}
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}
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void Connect::init(const core::RobotModelConstPtr& robot_model)
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void Connect::init(const core::RobotModelConstPtr& robot_model)
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@ -63,7 +65,8 @@ bool Connect::compute(const InterfaceState &from, const InterfaceState &to) {
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const moveit::core::JointModelGroup* jmg = from.scene()->getRobotModel()->getJointModelGroup(group);
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const moveit::core::JointModelGroup* jmg = from.scene()->getRobotModel()->getJointModelGroup(group);
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robot_trajectory::RobotTrajectoryPtr trajectory;
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robot_trajectory::RobotTrajectoryPtr trajectory;
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if (!planner_->plan(from.scene(), to.scene(), jmg, timeout, trajectory))
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if (!planner_->plan(from.scene(), to.scene(), jmg, timeout, trajectory,
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props.get<moveit_msgs::Constraints>("path_constraints")))
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return false;
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return false;
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connect(from, to, trajectory);
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connect(from, to, trajectory);
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