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reduce code bloat using SFINAE template selection
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@ -1,36 +1,112 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Bielefeld University
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* All rights reserved.
|
||||
*
|
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* 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
|
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke
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Desc: Modify planning scene
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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 <deque>
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#include <moveit/task_constructor/properties.h>
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#include <moveit/task_constructor/type_traits.h>
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#include <map>
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namespace moveit { namespace planning_interface {
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MOVEIT_CLASS_FORWARD(MoveGroupInterface)
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namespace moveit { namespace core {
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MOVEIT_CLASS_FORWARD(JointModelGroup)
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} }
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namespace moveit { namespace task_constructor { namespace stages {
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/** Allow modification of planning scene
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*
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* This stage takes the incoming planning scene and applies previously scheduled
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* changes to it, for example:
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* - Modify allowed collision matrix, enabling or disabling collision pairs.
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* - Attach or detach objects to robot links.
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* - Spawn or remove objects.
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*/
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class ModifyPlanningScene : public PropagatingEitherWay {
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public:
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typedef std::vector<std::string> Names;
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ModifyPlanningScene(std::string name);
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typedef std::function<void(planning_scene::PlanningScenePtr scene, PropertyMap& properties)> ApplyCallback;
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ModifyPlanningScene(const std::string& name = "modify planning scene");
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bool computeForward(const InterfaceState& from) override;
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bool computeBackward(const InterfaceState& to) override;
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/// methods to attach objects to a robot link
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template <class C>
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void attachObjects(const C& objects, const std::string& attach_link);
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template <class C>
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void detachObjects(const C& objects, const std::string& attach_link);
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/// attachObjects() and detachObjects() forward to this method, setting attach = true resp. false
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/// call an arbitrary function
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void setCallback(const ApplyCallback& cb) { callback_ = cb; }
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/// attach or detach a list of objects to the given link
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void attachObjects(const Names& objects, const std::string& attach_link, bool attach);
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/// method to enable / disable collision between object pairs
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template <class T1, class T2>
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void enableCollisions(const T1& first, const T2& second, bool enable_collision);
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/// conviency methods accepting a single object name
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inline void attachObject(const std::string& object, const std::string& link);
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inline void detachObject(const std::string& object, const std::string& link);
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/// conviency methods accepting any container of object names
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template <typename T, typename E = typename std::enable_if_t<is_container<T>::value && std::is_base_of<std::string, typename T::value_type>::value>>
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inline void attachObjects(const T& objects, const std::string& link) {
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attachObjects(Names(objects.cbegin(), objects.cend()), link, true);
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}
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template <typename T, typename E = typename std::enable_if_t<is_container<T>::value && std::is_base_of<std::string, typename T::value_type>::value>>
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inline void detachObjects(const T& objects, const std::string& link) {
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attachObjects(Names(objects.cbegin(), objects.cend()), link, false);
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}
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/// enable / disable collisions for each combination of pairs in first and second lists
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void enableCollisions(const Names& first, const Names& second, bool enable_collision);
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/// enable / disable all collisions for given object
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void enableCollisions(const std::string& object, bool enable_collision);
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void enableCollisions(const std::string& object, bool enable_collision) {
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enableCollisions(Names({object}), Names(), enable_collision);
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}
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/// conveniency method accepting arbitrary container types
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template <typename T1, typename T2,
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typename E1 = typename std::enable_if_t<is_container<T1>::value && std::is_base_of<std::string, typename T1::value_type>::value>,
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typename E2 = typename std::enable_if_t<is_container<T2>::value && std::is_base_of<std::string, typename T2::value_type>::value>>
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inline void enableCollisions(const T1& first, const T2& second, bool enable_collision) {
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enableCollisions(Names(first.cbegin(), first.cend()), Names(second.cbegin(), second.cend()), enable_collision);
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}
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/// conveniency method accepting std::string and an arbitrary container of names
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template <typename T, typename E = typename std::enable_if_t<is_container<T>::value && std::is_base_of<std::string, typename T::value_type>::value>>
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inline void enableCollisions(const std::string& first, const T& second, bool enable_collision) {
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enableCollisions(Names({first}), Names(second.cbegin(), second.cend()), enable_collision);
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}
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/// conveniency method accepting std::string and JointModelGroup
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void enableCollisions(const std::string& first, const moveit::core::JointModelGroup& jmg, bool enable_collision);
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protected:
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// list of objects to attach (true) / detach (false) to a given link
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@ -43,131 +119,22 @@ protected:
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bool enable;
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};
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std::list<CollisionMatrixPairs> collision_matrix_edits_;
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ApplyCallback callback_;
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protected:
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// apply stored modifications to scene
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InterfaceState apply(const InterfaceState &from, bool invert);
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void attachObjects(planning_scene::PlanningScene &scene, const std::pair<std::string, std::pair<Names, bool> >& pair, bool invert);
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void setCollisions(planning_scene::PlanningScene &scene, const CollisionMatrixPairs& pairs, bool invert);
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planning_scene::PlanningScenePtr apply(const planning_scene::PlanningSceneConstPtr &scene, bool invert);
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void enableCollisions(planning_scene::PlanningScene &scene, const CollisionMatrixPairs& pairs, bool invert);
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};
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// As C++ doesn't allow for partial specialization of functions / methods, we need to use a helper class
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namespace detail {
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// generic implementation
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template <class T> struct AttachHelper {
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static void impl(ModifyPlanningScene* stage, const T& objects, const std::string& link, bool attach) {
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static_assert(std::is_base_of<std::string, typename T::value_type>::value, "T must be a container of std::strings");
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stage->attachObjects(ModifyPlanningScene::Names(objects.cbegin(), objects.cend()), link, attach);
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}
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};
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// specialization for Names
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template<>
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struct AttachHelper<ModifyPlanningScene::Names> {
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static void impl(ModifyPlanningScene* stage, const ModifyPlanningScene::Names& objects, const std::string& link, bool attach) {
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stage->attachObjects(objects, link, attach);
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}
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};
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// specialization for std::string
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template<>
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struct AttachHelper<std::string> {
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static void impl(ModifyPlanningScene* stage, const std::string& object, const std::string& link, bool attach) {
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stage->attachObjects(ModifyPlanningScene::Names({object}), link, attach);
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}
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};
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// specialization for string literal
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template<int N>
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struct AttachHelper<char[N]> {
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static void impl(ModifyPlanningScene* stage, const char object[N], const std::string& link, bool attach) {
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stage->attachObjects(ModifyPlanningScene::Names({object}), link, attach);
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}
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};
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} // namespace detail
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// implementation of methods forwards to AttachHelper::impl()
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template <class T>
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void ModifyPlanningScene::attachObjects(const T& first, const std::string& attach_link) {
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detail::AttachHelper<T>::impl(this, first, attach_link, true);
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}
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template <class T>
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void ModifyPlanningScene::detachObjects(const T& first, const std::string& attach_link) {
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detail::AttachHelper<T>::impl(this, first, attach_link, false);
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inline void ModifyPlanningScene::attachObject(const std::string &object, const std::string &link) {
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attachObjects(Names({object}), link, true);
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}
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// specialization for Names, implemented in .cpp
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template <>
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void ModifyPlanningScene::enableCollisions<ModifyPlanningScene::Names, ModifyPlanningScene::Names>
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(const ModifyPlanningScene::Names& first, const ModifyPlanningScene::Names& second, bool enable_collision);
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// As C++ doesn't allow for partial specialization of functions / methods, we need to use a helper class
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namespace detail {
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// generic implementation
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template <class T1, class T2> struct CollisionHelper {
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static void impl(ModifyPlanningScene* stage, const T1& first, const T2& second, bool enable) {
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static_assert(std::is_base_of<std::string, typename T1::value_type>::value, "T1 must be a container of std::strings");
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static_assert(std::is_base_of<std::string, typename T2::value_type>::value, "T2 must be a container of std::strings");
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stage->enableCollisions(ModifyPlanningScene::Names(first.cbegin(), first.cend()),
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ModifyPlanningScene::Names(second.cbegin(), second.cend()), enable);
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}
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};
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// specialization for Names
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template<>
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struct CollisionHelper<ModifyPlanningScene::Names, ModifyPlanningScene::Names> {
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static void impl(ModifyPlanningScene* stage, const ModifyPlanningScene::Names& first, const ModifyPlanningScene::Names& second, bool enable) {
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stage->enableCollisions(first, second, enable);
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}
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};
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// specialization for pair of std::string
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template<>
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struct CollisionHelper<std::string, std::string> {
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static void impl(ModifyPlanningScene* stage, const std::string& first, const std::string& second, bool enable) {
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stage->enableCollisions(ModifyPlanningScene::Names({first}), ModifyPlanningScene::Names({second}), enable);
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}
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};
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// specialization for pair of string literals
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template<int N1, int N2>
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struct CollisionHelper<char[N1], char[N2]> {
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static void impl(ModifyPlanningScene* stage, const char first[N1], const char second[N2], bool enable) {
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stage->enableCollisions(ModifyPlanningScene::Names({std::string(first)}),
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ModifyPlanningScene::Names({std::string(second)}), enable);
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}
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};
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// specialization for std::string, container
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template<class T2>
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struct CollisionHelper<std::string, T2> {
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static void impl(ModifyPlanningScene* stage, const std::string& first, const T2& second, bool enable) {
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stage->enableCollisions(ModifyPlanningScene::Names({first}), second, enable);
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}
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};
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// specialization for string literal, container
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template<int N1, class T2>
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struct CollisionHelper<char[N1], T2> {
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static void impl(ModifyPlanningScene* stage, const char first[N1], const T2& second, bool enable) {
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stage->enableCollisions(ModifyPlanningScene::Names({std::string(first)}), second, enable);
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}
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};
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} // namespace detail
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// implementation of method forwards to CollisionHelper::impl()
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template <class T1, class T2>
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inline void ModifyPlanningScene::enableCollisions(const T1& first, const T2& second, bool enable_collision) {
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detail::CollisionHelper<T1, T2>::impl(this, first, second, enable_collision);
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}
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// single-object variant forwards to empty Names in second arg
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inline void ModifyPlanningScene::enableCollisions(const std::string &object, bool enable_collision) {
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enableCollisions(Names({object}), Names(), enable_collision);
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inline void ModifyPlanningScene::detachObject(const std::string &object, const std::string &link) {
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attachObjects(Names({object}), link, false);
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}
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} } }
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66
core/include/moveit/task_constructor/type_traits.h
Normal file
66
core/include/moveit/task_constructor/type_traits.h
Normal file
@ -0,0 +1,66 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Bielefeld University
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* All rights reserved.
|
||||
*
|
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* 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.
|
||||
*********************************************************************/
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/* Authors: Robert Haschke
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Desc: type traits for SFINAE-based templating
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*/
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#pragma once
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#include <type_traits>
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namespace moveit { namespace task_constructor {
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// detect STL-like containers by presence of cbegin(), cend() methods
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template<typename T, typename _ = void>
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struct is_container : std::false_type {};
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template<typename... Ts>
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struct is_container_helper {};
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template<typename T>
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struct is_container<
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T,
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std::conditional_t<
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false,
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is_container_helper<
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typename T::const_iterator,
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decltype(std::declval<T>().cbegin()),
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decltype(std::declval<T>().cend())
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>,
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void
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>
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> : public std::true_type {};
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} }
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@ -1,10 +1,48 @@
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/*********************************************************************
|
||||
* 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.
|
||||
*********************************************************************/
|
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|
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/* Authors: Robert Haschke
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Desc: Modify planning scene
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*/
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#include <moveit/task_constructor/stages/modify_planning_scene.h>
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#include <moveit/task_constructor/storage.h>
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#include <moveit/planning_scene/planning_scene.h>
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namespace moveit { namespace task_constructor { namespace stages {
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ModifyPlanningScene::ModifyPlanningScene(std::string name)
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ModifyPlanningScene::ModifyPlanningScene(const std::string &name)
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: PropagatingEitherWay(name)
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{}
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@ -15,26 +53,31 @@ void ModifyPlanningScene::attachObjects(const Names& objects, const std::string&
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o.insert(o.end(), objects.begin(), objects.end());
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}
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template <>
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void ModifyPlanningScene::enableCollisions<ModifyPlanningScene::Names>
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(const ModifyPlanningScene::Names& first, const ModifyPlanningScene::Names& second, bool enable_collision) {
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void ModifyPlanningScene::enableCollisions(const Names& first, const Names& second, bool enable_collision) {
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collision_matrix_edits_.push_back(CollisionMatrixPairs({first, second, enable_collision}));
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}
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void ModifyPlanningScene::enableCollisions(const std::string &first, const moveit::core::JointModelGroup &jmg, bool enable_collision)
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{
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const auto& links = jmg.getLinkModelNamesWithCollisionGeometry();
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if (!links.empty())
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enableCollisions(Names({first}), links, enable_collision);
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}
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bool ModifyPlanningScene::computeForward(const InterfaceState &from){
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planning_scene::PlanningScenePtr to = apply(from.scene(), false);
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sendForward(from, InterfaceState(to), robot_trajectory::RobotTrajectoryPtr());
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sendForward(from, apply(from, false), robot_trajectory::RobotTrajectoryPtr());
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return true;
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}
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bool ModifyPlanningScene::computeBackward(const InterfaceState &to)
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{
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planning_scene::PlanningScenePtr from = apply(to.scene(), true);
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sendBackward(InterfaceState(from), to, robot_trajectory::RobotTrajectoryPtr());
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sendBackward(apply(to, true), to, robot_trajectory::RobotTrajectoryPtr());
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return true;
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}
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void ModifyPlanningScene::attachObjects(planning_scene::PlanningScene &scene, const std::pair<std::string, std::pair<Names, bool> >& pair, bool invert)
|
||||
void ModifyPlanningScene::attachObjects(planning_scene::PlanningScene &scene,
|
||||
const std::pair<std::string, std::pair<Names, bool> >& pair,
|
||||
bool invert)
|
||||
{
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||||
moveit_msgs::AttachedCollisionObject obj;
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||||
obj.link_name = pair.first;
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||||
@ -48,7 +91,9 @@ void ModifyPlanningScene::attachObjects(planning_scene::PlanningScene &scene, co
|
||||
}
|
||||
}
|
||||
|
||||
void ModifyPlanningScene::setCollisions(planning_scene::PlanningScene &scene, const CollisionMatrixPairs& pairs, bool invert)
|
||||
void ModifyPlanningScene::enableCollisions(planning_scene::PlanningScene &scene,
|
||||
const CollisionMatrixPairs& pairs,
|
||||
bool invert)
|
||||
{
|
||||
collision_detection::AllowedCollisionMatrix& acm = scene.getAllowedCollisionMatrixNonConst();
|
||||
bool enable = invert ? !pairs.enable : pairs.enable;
|
||||
@ -61,16 +106,24 @@ void ModifyPlanningScene::setCollisions(planning_scene::PlanningScene &scene, co
|
||||
|
||||
// invert indicates, whether to detach instead of attach (and vice versa)
|
||||
// as well as to disable instead of enable collision (and vice versa)
|
||||
planning_scene::PlanningScenePtr ModifyPlanningScene::apply(const planning_scene::PlanningSceneConstPtr &scene, bool invert)
|
||||
InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool invert)
|
||||
{
|
||||
planning_scene::PlanningScenePtr result = scene->diff();
|
||||
planning_scene::PlanningScenePtr scene = from.scene()->diff();
|
||||
InterfaceState result(scene);
|
||||
// initialize properties from input state
|
||||
result.properties() = from.properties();
|
||||
|
||||
// attach/detach objects
|
||||
for (const auto &pair : attach_objects_)
|
||||
attachObjects(*result, pair, invert);
|
||||
attachObjects(*scene, pair, invert);
|
||||
|
||||
// enable/disable collisions
|
||||
for (const auto &pairs : collision_matrix_edits_)
|
||||
setCollisions(*result, pairs, invert);
|
||||
enableCollisions(*scene, pairs, invert);
|
||||
|
||||
if (callback_)
|
||||
callback_(scene, result.properties());
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user