add PredicateFilter

This commit is contained in:
v4hn 2018-09-23 16:58:10 +02:00 committed by Robert Haschke
parent 5af54b5a21
commit cc90d5f3f2
3 changed files with 159 additions and 0 deletions

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@ -0,0 +1,69 @@
/*********************************************************************
* 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 */
#pragma once
#include <moveit/task_constructor/container.h>
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
}
}
namespace moveit { namespace task_constructor { namespace stages {
/** Generator Wrapper to filter generated solutions by custom criteria
*
* All solutions of the wrapped class are passed to predicate.
* Solutions are accepted if predicate(s) == true.
* Rejected solutions are forwarded as failures with an optional comment
*/
class PredicateFilter : public WrapperBase {
public:
typedef std::function<bool(const SolutionBase&, std::string&)> Predicate;
PredicateFilter(const std::string &name, Stage::pointer &&child = Stage::pointer());
void init(const moveit::core::RobotModelConstPtr& robot_model) override;
void onNewSolution(const SolutionBase &s) override;
void setPredicate(const Predicate& p){
setProperty("predicate", p);
}
};
} } }

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@ -7,6 +7,7 @@ add_library(${PROJECT_NAME}_stages
${PROJECT_INCLUDE}/stages/generate_pose.h
${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
${PROJECT_INCLUDE}/stages/compute_ik.h
${PROJECT_INCLUDE}/stages/predicate_filter.h
${PROJECT_INCLUDE}/stages/connect.h
${PROJECT_INCLUDE}/stages/move_to.h
@ -23,6 +24,7 @@ add_library(${PROJECT_NAME}_stages
generate_grasp_pose.cpp
generate_pose.cpp
compute_ik.cpp
predicate_filter.cpp
connect.cpp
move_to.cpp

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/*********************************************************************
* 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 */
#include <moveit/task_constructor/stages/predicate_filter.h>
#include <moveit/task_constructor/storage.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#include <functional>
namespace moveit { namespace task_constructor { namespace stages {
PredicateFilter::PredicateFilter(const std::string &name, Stage::pointer &&child)
: WrapperBase(name, std::move(child))
{
auto& p = properties();
p.declare<Predicate>("predicate", "predicate to filter wrapped solutions");
p.declare<bool>("ignore_filter", false);
}
void PredicateFilter::init(const moveit::core::RobotModelConstPtr& robot_model)
{
InitStageException errors;
try { WrapperBase::init(robot_model); } catch (InitStageException &e) { errors.append(e); }
const auto& props = properties();
// In theory this could be set in interface states
// but we enforce it here to keep code flow sane and maintainable
if (props.get("predicate").empty()) {
InitStageException e(*this, "predicate is not specified");
errors.append(e);
}
if (errors) throw errors;
}
void PredicateFilter::onNewSolution(const SolutionBase &s)
{
const auto& props = properties();
std::string comment = s.comment();
double cost = s.cost();
if (!props.get<Predicate>("predicate")(s, comment))
cost = std::numeric_limits<double>::infinity();
liftSolution(s, cost, comment);
}
} } }