cartesian_interpolator.cpp

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/* Author: Ioan Sucan, Sachin Chitta, Acorn Pooley, Mario Prats, Dave Coleman, Robert Haschke */
 
#include <memory>
#include <moveit/robot_state/cartesian_interpolator.hpp>
#include <geometric_shapes/check_isometry.h>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rcpputils/asserts.hpp>
#include <moveit/utils/logger.hpp>
 
namespace moveit::core
{
 
// Minimum amount of path waypoints recommended to reliably compute a joint-space increment average.
// If relative jump detection is selected and the path is shorter than `MIN_STEPS_FOR_JUMP_THRESH`, a warning message
// will be printed out.
static const std::size_t MIN_STEPS_FOR_JUMP_THRESH = 10;
 
namespace
{
 
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.core.cartesian_interpolator");
}
 
bool validateAndImproveInterval(const RobotState& start_state, const RobotState& end_state,
                                const Eigen::Isometry3d& start_pose, const Eigen::Isometry3d& end_pose,
                                std::vector<RobotStatePtr>& traj, double& percentage, const double width,
                                const JointModelGroup* group, const LinkModel* link,
                                const CartesianPrecision& precision, const GroupStateValidityCallbackFn& validCallback,
                                const kinematics::KinematicsQueryOptions& options,
                                const kinematics::KinematicsBase::IKCostFn& cost_function,
                                const Eigen::Isometry3d& link_offset)
{
  // compute pose at joint-space midpoint between start_state and end_state
  RobotState mid_state(start_state.getRobotModel());
  start_state.interpolate(end_state, 0.5, mid_state);
  Eigen::Isometry3d fk_pose = mid_state.getGlobalLinkTransform(link) * link_offset;
 
  // compute pose at Cartesian-space midpoint between start_pose and end_pose
  Eigen::Isometry3d mid_pose(Eigen::Quaterniond(start_pose.linear()).slerp(0.5, Eigen::Quaterniond(end_pose.linear())));
  mid_pose.translation() = 0.5 * (start_pose.translation() + end_pose.translation());
 
  // if deviation between both poses, fk_pose and mid_pose is within precision, we are satisfied
  double linear_distance = (mid_pose.translation() - fk_pose.translation()).norm();
  double angular_distance = Eigen::Quaterniond(mid_pose.linear()).angularDistance(Eigen::Quaterniond(fk_pose.linear()));
  if (linear_distance <= precision.translational && angular_distance <= precision.rotational)
  {
    traj.push_back(std::make_shared<moveit::core::RobotState>(end_state));
    return true;
  }
 
  if (width < precision.max_resolution)
    return false;  // failed to find linear interpolation within max_resolution
 
  // otherwise subdivide interval further, computing IK for mid_pose
  if (!mid_state.setFromIK(group, mid_pose * link_offset.inverse(), link->getName(), 0.0, validCallback, options,
                           cost_function))
    return false;
 
  // and recursively processing the two sub-intervals
  const auto half_width = width / 2.0;
  const auto old_percentage = percentage;
  percentage = percentage - half_width;
  if (!validateAndImproveInterval(start_state, mid_state, start_pose, mid_pose, traj, percentage, half_width, group,
                                  link, precision, validCallback, options, cost_function, link_offset))
    return false;
 
  percentage = old_percentage;
  return validateAndImproveInterval(mid_state, end_state, mid_pose, end_pose, traj, percentage, half_width, group, link,
                                    precision, validCallback, options, cost_function, link_offset);
}
 
std::optional<int> hasRelativeJointSpaceJump(const std::vector<moveit::core::RobotStatePtr>& waypoints,
                                             const moveit::core::JointModelGroup& group, double jump_threshold_factor)
{
  if (waypoints.size() < MIN_STEPS_FOR_JUMP_THRESH)
  {
    RCLCPP_WARN(getLogger(),
                "The computed path is too short to detect jumps in joint-space. "
                "Need at least %zu steps, only got %zu. Try a lower max_step.",
                MIN_STEPS_FOR_JUMP_THRESH, waypoints.size());
  }
 
  std::vector<double> dist_vector;
  dist_vector.reserve(waypoints.size() - 1);
  double total_dist = 0.0;
  for (std::size_t i = 1; i < waypoints.size(); ++i)
  {
    const double dist_prev_point = waypoints[i]->distance(*waypoints[i - 1], &group);
    dist_vector.push_back(dist_prev_point);
    total_dist += dist_prev_point;
  }
 
  // compute the average distance between the states we looked at.
  double thres = jump_threshold_factor * (total_dist / static_cast<double>(dist_vector.size()));
  for (std::size_t i = 0; i < dist_vector.size(); ++i)
  {
    if (dist_vector[i] > thres)
    {
      return i + 1;
    }
  }
 
  return std::nullopt;
}
 
std::optional<int> hasAbsoluteJointSpaceJump(const std::vector<moveit::core::RobotStatePtr>& waypoints,
                                             const moveit::core::JointModelGroup& group, double revolute_threshold,
                                             double prismatic_threshold)
{
  const bool check_revolute = revolute_threshold > 0.0;
  const bool check_prismatic = prismatic_threshold > 0.0;
 
  const std::vector<const moveit::core::JointModel*>& joints = group.getActiveJointModels();
  for (std::size_t i = 1; i < waypoints.size(); ++i)
  {
    for (const auto& joint : joints)
    {
      const double distance = waypoints[i]->distance(*waypoints[i - 1], joint);
      switch (joint->getType())
      {
        case moveit::core::JointModel::REVOLUTE:
          if (check_revolute && distance > revolute_threshold)
          {
            return i;
          }
          break;
        case moveit::core::JointModel::PRISMATIC:
          if (check_prismatic && distance > prismatic_threshold)
          {
            return i;
          }
          break;
        default:
          RCLCPP_WARN(getLogger(),
                      "Joint %s has not supported type %s. \n"
                      "hasAbsoluteJointSpaceJump only supports prismatic and revolute joints. Skipping joint jump "
                      "check for this joint.",
                      joint->getName().c_str(), joint->getTypeName().c_str());
          continue;
      }
    }
  }
 
  return std::nullopt;
}
}  // namespace
 
CartesianInterpolator::Distance CartesianInterpolator::computeCartesianPath(
    const RobotState* start_state, const JointModelGroup* group, std::vector<RobotStatePtr>& traj,
    const LinkModel* link, const Eigen::Vector3d& translation, bool global_reference_frame, const MaxEEFStep& max_step,
    const CartesianPrecision& precision, const GroupStateValidityCallbackFn& validCallback,
    const kinematics::KinematicsQueryOptions& options, const kinematics::KinematicsBase::IKCostFn& cost_function)
{
  const double distance = translation.norm();
  // The target pose is obtained by adding the translation vector to the link's current pose
  Eigen::Isometry3d pose = start_state->getGlobalLinkTransform(link);
 
  // the translation direction can be specified w.r.t. the local link frame (then rotate into global frame)
  pose.translation() += global_reference_frame ? translation : pose.linear() * translation;
 
  // call computeCartesianPath for the computed target pose in the global reference frame
  return CartesianInterpolator::Distance(distance) * computeCartesianPath(start_state, group, traj, link, pose, true,
                                                                          max_step, precision, validCallback, options,
                                                                          cost_function);
}
 
CartesianInterpolator::Percentage CartesianInterpolator::computeCartesianPath(
    const RobotState* start_state, const JointModelGroup* group, std::vector<RobotStatePtr>& traj,
    const LinkModel* link, const Eigen::Isometry3d& target, bool global_reference_frame, const MaxEEFStep& max_step,
    const CartesianPrecision& precision, const GroupStateValidityCallbackFn& validCallback,
    const kinematics::KinematicsQueryOptions& options, const kinematics::KinematicsBase::IKCostFn& cost_function,
    const Eigen::Isometry3d& link_offset)
{
  // check unsanitized inputs for non-isometry
  ASSERT_ISOMETRY(target)
  ASSERT_ISOMETRY(link_offset)
 
  RobotState state(*start_state);
 
  const std::vector<const JointModel*>& cjnt = group->getContinuousJointModels();
  // make sure that continuous joints wrap
  for (const JointModel* joint : cjnt)
    state.enforceBounds(joint);
 
  // Cartesian pose we start from
  Eigen::Isometry3d start_pose = state.getGlobalLinkTransform(link) * link_offset;
  Eigen::Isometry3d inv_offset = link_offset.inverse();
 
  // the target can be in the local reference frame (in which case we rotate it)
  Eigen::Isometry3d rotated_target = global_reference_frame ? target : start_pose * target;
 
  Eigen::Quaterniond start_quaternion(start_pose.linear());
  Eigen::Quaterniond target_quaternion(rotated_target.linear());
 
  double rotation_distance = start_quaternion.angularDistance(target_quaternion);
  double translation_distance = (rotated_target.translation() - start_pose.translation()).norm();
 
  // decide how many steps we will need for this trajectory
  std::size_t translation_steps = 0;
  if (max_step.translation > 0.0)
    translation_steps = floor(translation_distance / max_step.translation);
 
  std::size_t rotation_steps = 0;
  if (max_step.rotation > 0.0)
    rotation_steps = floor(rotation_distance / max_step.rotation);
  std::size_t steps = std::max(translation_steps, rotation_steps) + 1;
 
  traj.clear();
  traj.push_back(std::make_shared<moveit::core::RobotState>(*start_state));
 
  double last_valid_percentage = 0.0;
  Eigen::Isometry3d prev_pose = start_pose;
  RobotState prev_state(state);
  for (std::size_t i = 1; i <= steps; ++i)
  {
    double percentage = static_cast<double>(i) / static_cast<double>(steps);
 
    Eigen::Isometry3d pose(start_quaternion.slerp(percentage, target_quaternion));
    pose.translation() = percentage * rotated_target.translation() + (1 - percentage) * start_pose.translation();
 
    if (!state.setFromIK(group, pose * inv_offset, link->getName(), 0.0, validCallback, options, cost_function) ||
        !validateAndImproveInterval(prev_state, state, prev_pose, pose, traj, percentage,
                                    1.0 / static_cast<double>(steps), group, link, precision, validCallback, options,
                                    cost_function, link_offset))
      break;
 
    prev_pose = pose;
    prev_state = state;
    last_valid_percentage = percentage;
  }
 
  return last_valid_percentage;
}
 
CartesianInterpolator::Percentage CartesianInterpolator::computeCartesianPath(
    const RobotState* start_state, const JointModelGroup* group, std::vector<RobotStatePtr>& traj,
    const LinkModel* link, const EigenSTL::vector_Isometry3d& waypoints, bool global_reference_frame,
    const MaxEEFStep& max_step, const CartesianPrecision& precision, const GroupStateValidityCallbackFn& validCallback,
    const kinematics::KinematicsQueryOptions& options, const kinematics::KinematicsBase::IKCostFn& cost_function,
    const Eigen::Isometry3d& link_offset)
{
  double percentage_solved = 0.0;
  for (std::size_t i = 0; i < waypoints.size(); ++i)
  {
    std::vector<RobotStatePtr> waypoint_traj;
    double wp_percentage_solved =
        computeCartesianPath(start_state, group, waypoint_traj, link, waypoints[i], global_reference_frame, max_step,
                             precision, validCallback, options, cost_function, link_offset);
 
    std::vector<RobotStatePtr>::iterator start = waypoint_traj.begin();
    if (i > 0 && !waypoint_traj.empty())
      std::advance(start, 1);
    traj.insert(traj.end(), start, waypoint_traj.end());
 
    if (fabs(wp_percentage_solved - 1.0) < std::numeric_limits<double>::epsilon())
    {
      percentage_solved = static_cast<double>(i + 1) / static_cast<double>(waypoints.size());
    }
    else
    {
      percentage_solved += wp_percentage_solved / static_cast<double>(waypoints.size());
      break;
    }
    start_state = traj.back().get();
  }
 
  return percentage_solved;
}
 
JumpThreshold JumpThreshold::disabled()
{
  return JumpThreshold();
}
 
JumpThreshold JumpThreshold::relative(double relative_factor)
{
  rcpputils::require_true(relative_factor > 1.0);
 
  JumpThreshold threshold;
  threshold.relative_factor = relative_factor;
  return threshold;
}
 
JumpThreshold JumpThreshold::absolute(double revolute, double prismatic)
{
  rcpputils::require_true(revolute > 0.0);
  rcpputils::require_true(prismatic > 0.0);
 
  JumpThreshold threshold;
  threshold.revolute = revolute;
  threshold.prismatic = prismatic;
  return threshold;
}
 
JumpThreshold::JumpThreshold(double relative_factor)
{
  this->relative_factor = relative_factor;
}
JumpThreshold::JumpThreshold(double revolute, double prismatic)
{
  this->revolute = revolute;
  this->prismatic = prismatic;
}
 
CartesianInterpolator::Distance CartesianInterpolator::computeCartesianPath(
    RobotState* start_state, const JointModelGroup* group, std::vector<RobotStatePtr>& path, const LinkModel* link,
    const Eigen::Vector3d& translation, bool global_reference_frame, const MaxEEFStep& max_step,
    const JumpThreshold& jump_threshold, const GroupStateValidityCallbackFn& validCallback,
    const kinematics::KinematicsQueryOptions& options, const kinematics::KinematicsBase::IKCostFn& cost_function)
{
  const double distance = translation.norm();
  // The target pose is obtained by adding the translation vector to the link's current pose
  Eigen::Isometry3d pose = start_state->getGlobalLinkTransform(link);
 
  // the translation direction can be specified w.r.t. the local link frame (then rotate into global frame)
  pose.translation() += global_reference_frame ? translation : pose.linear() * translation;
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
  // call computeCartesianPath for the computed target pose in the global reference frame
  return CartesianInterpolator::Distance(distance) * computeCartesianPath(start_state, group, path, link, pose, true,
                                                                          max_step, jump_threshold, validCallback,
                                                                          options, cost_function);
#pragma GCC diagnostic pop
}
 
CartesianInterpolator::Percentage CartesianInterpolator::computeCartesianPath(
    RobotState* start_state, const JointModelGroup* group, std::vector<RobotStatePtr>& path, const LinkModel* link,
    const Eigen::Isometry3d& target, bool global_reference_frame, const MaxEEFStep& max_step,
    const JumpThreshold& jump_threshold, const GroupStateValidityCallbackFn& validCallback,
    const kinematics::KinematicsQueryOptions& options, const kinematics::KinematicsBase::IKCostFn& cost_function,
    const Eigen::Isometry3d& link_offset)
{
  // check unsanitized inputs for non-isometry
  ASSERT_ISOMETRY(target)
  ASSERT_ISOMETRY(link_offset)
 
  const std::vector<const JointModel*>& cjnt = group->getContinuousJointModels();
  // make sure that continuous joints wrap
  for (const JointModel* joint : cjnt)
    start_state->enforceBounds(joint);
 
  // Cartesian pose we start from
  Eigen::Isometry3d start_pose = start_state->getGlobalLinkTransform(link) * link_offset;
  Eigen::Isometry3d offset = link_offset.inverse();
 
  // the target can be in the local reference frame (in which case we rotate it)
  Eigen::Isometry3d rotated_target = global_reference_frame ? target : start_pose * target;
 
  Eigen::Quaterniond start_quaternion(start_pose.linear());
  Eigen::Quaterniond target_quaternion(rotated_target.linear());
 
  if (max_step.translation <= 0.0 && max_step.rotation <= 0.0)
  {
    RCLCPP_ERROR(getLogger(),
                 "Invalid MaxEEFStep passed into computeCartesianPath. Both the MaxEEFStep.rotation and "
                 "MaxEEFStep.translation components must be non-negative and at least one component must be "
                 "greater than zero");
    return 0.0;
  }
 
  double rotation_distance = start_quaternion.angularDistance(target_quaternion);
  double translation_distance = (rotated_target.translation() - start_pose.translation()).norm();
 
  // decide how many steps we will need for this path
  std::size_t translation_steps = 0;
  if (max_step.translation > 0.0)
    translation_steps = floor(translation_distance / max_step.translation);
 
  std::size_t rotation_steps = 0;
  if (max_step.rotation > 0.0)
    rotation_steps = floor(rotation_distance / max_step.rotation);
 
  // If we are testing for relative jumps, we always want at least MIN_STEPS_FOR_JUMP_THRESH steps
  std::size_t steps = std::max(translation_steps, rotation_steps) + 1;
  if (jump_threshold.relative_factor > 0 && steps < MIN_STEPS_FOR_JUMP_THRESH)
    steps = MIN_STEPS_FOR_JUMP_THRESH;
 
  // To limit absolute joint-space jumps, we pass consistency limits to the IK solver
  std::vector<double> consistency_limits;
  if (jump_threshold.prismatic > 0 || jump_threshold.revolute > 0)
  {
    for (const JointModel* jm : group->getActiveJointModels())
    {
      double limit;
      switch (jm->getType())
      {
        case JointModel::REVOLUTE:
          limit = jump_threshold.revolute;
          break;
        case JointModel::PRISMATIC:
          limit = jump_threshold.prismatic;
          break;
        default:
          limit = 0.0;
      }
      if (limit == 0.0)
        limit = jm->getMaximumExtent();
      consistency_limits.push_back(limit);
    }
  }
 
  path.clear();
  path.push_back(std::make_shared<moveit::core::RobotState>(*start_state));
 
  double last_valid_percentage = 0.0;
  for (std::size_t i = 1; i <= steps; ++i)
  {
    double percentage = static_cast<double>(i) / static_cast<double>(steps);
 
    Eigen::Isometry3d pose(start_quaternion.slerp(percentage, target_quaternion));
    pose.translation() = percentage * rotated_target.translation() + (1 - percentage) * start_pose.translation();
 
    // Explicitly use a single IK attempt only (by setting a timeout of 0.0), using the current state as the seed.
    // Random seeding (of additional attempts) would create large joint-space jumps.
    if (start_state->setFromIK(group, pose * offset, link->getName(), consistency_limits, 0.0, validCallback, options,
                               cost_function))
    {
      path.push_back(std::make_shared<moveit::core::RobotState>(*start_state));
    }
    else
    {
      break;
    }
 
    last_valid_percentage = percentage;
  }
 
  last_valid_percentage *= checkJointSpaceJump(group, path, jump_threshold);
 
  return CartesianInterpolator::Percentage(last_valid_percentage);
}
 
CartesianInterpolator::Percentage CartesianInterpolator::computeCartesianPath(
    RobotState* start_state, const JointModelGroup* group, std::vector<RobotStatePtr>& path, const LinkModel* link,
    const EigenSTL::vector_Isometry3d& waypoints, bool global_reference_frame, const MaxEEFStep& max_step,
    const JumpThreshold& jump_threshold, const GroupStateValidityCallbackFn& validCallback,
    const kinematics::KinematicsQueryOptions& options, const kinematics::KinematicsBase::IKCostFn& cost_function,
    const Eigen::Isometry3d& link_offset)
{
  double percentage_solved = 0.0;
  for (std::size_t i = 0; i < waypoints.size(); ++i)
  {
    // Don't test joint space jumps for every waypoint, test them later on the whole path.
    static const JumpThreshold NO_JOINT_SPACE_JUMP_TEST = JumpThreshold::disabled();
    std::vector<RobotStatePtr> waypoint_path;
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
    double wp_percentage_solved =
        computeCartesianPath(start_state, group, waypoint_path, link, waypoints[i], global_reference_frame, max_step,
                             NO_JOINT_SPACE_JUMP_TEST, validCallback, options, cost_function, link_offset);
#pragma GCC diagnostic pop
 
    std::vector<RobotStatePtr>::iterator start = waypoint_path.begin();
    if (i > 0 && !waypoint_path.empty())
      std::advance(start, 1);
    path.insert(path.end(), start, waypoint_path.end());
 
    if (fabs(wp_percentage_solved - 1.0) < std::numeric_limits<double>::epsilon())
    {
      percentage_solved = static_cast<double>((i + 1)) / static_cast<double>(waypoints.size());
    }
    else
    {
      percentage_solved += wp_percentage_solved / static_cast<double>(waypoints.size());
      break;
    }
  }
 
  percentage_solved *= checkJointSpaceJump(group, path, jump_threshold);
 
  return CartesianInterpolator::Percentage(percentage_solved);
}
 
CartesianInterpolator::Percentage CartesianInterpolator::checkJointSpaceJump(const JointModelGroup* group,
                                                                             std::vector<RobotStatePtr>& path,
                                                                             const JumpThreshold& jump_threshold)
{
  std::optional<int> jump_index = hasJointSpaceJump(path, *group, jump_threshold);
 
  double percentage_solved = 1.0;
  if (jump_index.has_value())
  {
    percentage_solved = static_cast<double>(*jump_index) / static_cast<double>(path.size());
    // Truncate the path at the index right before the jump.
    path.resize(jump_index.value());
  }
 
  return CartesianInterpolator::Percentage(percentage_solved);
}
 
std::optional<int> hasJointSpaceJump(const std::vector<moveit::core::RobotStatePtr>& waypoints,
                                     const moveit::core::JointModelGroup& group,
                                     const moveit::core::JumpThreshold& jump_threshold)
{
  if (waypoints.size() <= 1)
  {
    return std::nullopt;
  }
 
  if (jump_threshold.relative_factor > 0.0)
  {
    return hasRelativeJointSpaceJump(waypoints, group, jump_threshold.relative_factor);
  }
 
  if (jump_threshold.revolute > 0.0 || jump_threshold.prismatic > 0.0)
  {
    return hasAbsoluteJointSpaceJump(waypoints, group, jump_threshold.revolute, jump_threshold.prismatic);
  }
 
  return std::nullopt;
}
 
}  // end of namespace moveit::core