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FixedCartesianPoses
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke
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Desc: Spawn fixed Cartesian poses
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*/
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#pragma once
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#include <moveit/task_constructor/stage.h>
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#include <moveit/task_constructor/cost_queue.h>
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#include <geometry_msgs/PoseStamped.h>
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namespace moveit { namespace task_constructor { namespace stages {
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class FixedCartesianPoses : public MonitoringGenerator {
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public:
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FixedCartesianPoses(const std::string& name = "generate poses");
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void reset() override;
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bool canCompute() const override;
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void compute() override;
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void addPose(const geometry_msgs::PoseStamped& pose);
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protected:
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void onNewSolution(const SolutionBase& s) override;
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ordered<const SolutionBase*> upstream_solutions_;
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};
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} } }
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@ -4,6 +4,7 @@ add_library(${PROJECT_NAME}_stages
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${PROJECT_INCLUDE}/stages/current_state.h
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${PROJECT_INCLUDE}/stages/fixed_state.h
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${PROJECT_INCLUDE}/stages/fixed_cartesian_poses.h
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${PROJECT_INCLUDE}/stages/generate_pose.h
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${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
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${PROJECT_INCLUDE}/stages/generate_place_pose.h
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@ -22,6 +23,7 @@ add_library(${PROJECT_NAME}_stages
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current_state.cpp
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fixed_state.cpp
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fixed_cartesian_poses.cpp
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generate_pose.cpp
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generate_grasp_pose.cpp
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generate_place_pose.cpp
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105
core/src/stages/fixed_cartesian_poses.cpp
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105
core/src/stages/fixed_cartesian_poses.cpp
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@ -0,0 +1,105 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
|
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke */
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#include <moveit/task_constructor/stages/fixed_cartesian_poses.h>
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#include <moveit/task_constructor/storage.h>
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#include <moveit/task_constructor/marker_tools.h>
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#include <moveit/planning_scene/planning_scene.h>
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#include <rviz_marker_tools/marker_creation.h>
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namespace moveit { namespace task_constructor { namespace stages {
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typedef std::vector<geometry_msgs::PoseStamped> PosesList;
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FixedCartesianPoses::FixedCartesianPoses(const std::string& name)
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: MonitoringGenerator(name)
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{
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auto& p = properties();
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p.declare<PosesList>("poses", PosesList(), "target poses to spawn");
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}
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void FixedCartesianPoses::addPose(const geometry_msgs::PoseStamped& pose)
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{
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moveit::task_constructor::Property& poses = properties().property("poses");
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if (!poses.defined())
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poses.setValue(PosesList({pose}));
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else
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boost::any_cast<PosesList&>(poses.value()).push_back(pose);
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}
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void FixedCartesianPoses::reset()
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{
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upstream_solutions_.clear();
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MonitoringGenerator::reset();
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}
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void FixedCartesianPoses::onNewSolution(const SolutionBase& s)
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{
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// It's safe to store a pointer to this solution, as the generating stage stores it
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upstream_solutions_.push(&s);
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}
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bool FixedCartesianPoses::canCompute() const {
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return upstream_solutions_.size() > 0;
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}
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void FixedCartesianPoses::compute() {
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if (upstream_solutions_.empty())
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return;
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planning_scene::PlanningScenePtr scene = upstream_solutions_.pop()->end()->scene()->diff();
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for (geometry_msgs::PoseStamped pose : properties().get<PosesList>("poses"))
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{
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if (pose.header.frame_id.empty())
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pose.header.frame_id = scene->getPlanningFrame();
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else if (!scene->knowsFrameTransform(pose.header.frame_id)) {
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ROS_WARN_NAMED("FixedCartesianPoses", "Unknown frame: '%s'", pose.header.frame_id.c_str());
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continue;
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}
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InterfaceState state(scene);
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state.properties().set("target_pose", pose);
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SubTrajectory trajectory;
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trajectory.setCost(0.0);
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rviz_marker_tools::appendFrame(trajectory.markers(), pose, 0.1, "pose frame");
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spawn(std::move(state), std::move(trajectory));
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}
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}
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} } }
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