PlannerInterface for joint-space interpolation

This commit is contained in:
Robert Haschke 2018-06-12 11:43:02 +02:00
parent 5920828b42
commit a7b74673ce
3 changed files with 189 additions and 0 deletions

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@ -0,0 +1,74 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Bielefeld 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
Desc: plan using MoveIt's PlanningPipeline
*/
#pragma once
#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/macros/class_forward.h>
namespace moveit { namespace task_constructor { namespace solvers {
MOVEIT_CLASS_FORWARD(JointInterpolationPlanner)
/** Use MoveIt's PlanningPipeline to plan a trajectory between to scenes */
class JointInterpolationPlanner : public PlannerInterface {
public:
JointInterpolationPlanner();
void setGroup(const std::string &group) { setProperty("group", group); }
void setTimeout(double timeout) { setProperty("timeout", timeout); }
void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr from,
const planning_scene::PlanningSceneConstPtr to,
const core::JointModelGroup *jmg,
double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr from,
const moveit::core::LinkModel &link,
const Eigen::Affine3d& target,
const core::JointModelGroup *jmg,
double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override;
};
} } }

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@ -14,6 +14,7 @@ add_library(${PROJECT_NAME}
${PROJECT_INCLUDE}/solvers/planner_interface.h
${PROJECT_INCLUDE}/solvers/cartesian_path.h
${PROJECT_INCLUDE}/solvers/joint_interpolation.h
${PROJECT_INCLUDE}/solvers/pipeline_planner.h
container.cpp
@ -27,6 +28,7 @@ add_library(${PROJECT_NAME}
solvers/cartesian_path.cpp
solvers/pipeline_planner.cpp
solvers/joint_interpolation.cpp
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_include_directories(${PROJECT_NAME}

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@ -0,0 +1,113 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Bielefeld 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
Desc: Plan using simple interpolation in joint-space + validity checking
*/
#include <moveit/task_constructor/solvers/joint_interpolation.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
namespace moveit { namespace task_constructor { namespace solvers {
JointInterpolationPlanner::JointInterpolationPlanner()
{
auto& p = properties();
p.declare<double>("max_step", 0.1, "max joint step");
p.declare<double>("max_velocity_scaling_factor", 1.0, "scale down max velocity by this factor");
p.declare<double>("max_acceleration_scaling_factor", 1.0, "scale down max acceleration by this factor");
}
void JointInterpolationPlanner::init(const core::RobotModelConstPtr &robot_model)
{
}
bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr from,
const planning_scene::PlanningSceneConstPtr to,
const moveit::core::JointModelGroup *jmg,
double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints)
{
const auto& props = properties();
// Get maximum joint distance
double d = 0.0;
const moveit::core::RobotState& from_state = from->getCurrentState();
const moveit::core::RobotState& to_state = to->getCurrentState();
for (const moveit::core::JointModel* jm : from_state.getRobotModel()->getActiveJointModels())
d = std::max(d, jm->getDistanceFactor() * from_state.distance(to_state, jm));
if (d < 1e-6)
return true; // return empty result trajectory: no motion needed
result = std::make_shared<robot_trajectory::RobotTrajectory>(from->getRobotModel(), jmg);
// add first point
result->addSuffixWayPoint(from->getCurrentState(), 0.0);
moveit::core::RobotState waypoint(from_state);
double delta = props.get<double>("max_step") / d;
for (double t = delta; t < 1.0; t += delta) {
from_state.interpolate(to_state, t, waypoint);
result->addSuffixWayPoint(waypoint, t);
if (from->isStateColliding(waypoint, jmg->getName()))
return false;
}
// add goal point
result->addSuffixWayPoint(to->getCurrentState(), 1.0);
// add timing, TODO: use a generic method to add timing via plugins
trajectory_processing::IterativeParabolicTimeParameterization timing;
timing.computeTimeStamps(*result,
props.get<double>("max_velocity_scaling_factor"),
props.get<double>("max_acceleration_scaling_factor"));
return true;
}
bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr from,
const moveit::core::LinkModel &link,
const Eigen::Affine3d& target_eigen,
const moveit::core::JointModelGroup *jmg,
double timeout,
robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints)
{
throw std::runtime_error("Not yet implemented");
}
} } }