ruckig_filter.hpp

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/* Author: Andy Zelenak
Description: Applies jerk/acceleration/velocity limits to online motion commands
 */
 
#pragma once
 
#include <cstddef>
 
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/online_signal_smoothing/smoothing_base_class.hpp>
#include <moveit_ruckig_filter_parameters.hpp>
 
#include <ruckig/ruckig.hpp>
 
namespace online_signal_smoothing
{
 
class RuckigFilterPlugin : public SmoothingBaseClass
{
public:
  bool initialize(rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model,
                  size_t num_joints) override;
 
  bool doSmoothing(Eigen::VectorXd& positions, Eigen::VectorXd& velocities, Eigen::VectorXd& accelerations) override;
 
  bool reset(const Eigen::VectorXd& positions, const Eigen::VectorXd& velocities,
             const Eigen::VectorXd& accelerations) override;
 
private:
  void printRuckigState();
 
  bool getVelAccelJerkBounds(std::vector<double>& joint_velocity_bounds, std::vector<double>& joint_acceleration_bounds,
                             std::vector<double>& joint_jerk_bounds);
 
  online_signal_smoothing::Params params_;
  moveit::core::RobotModelConstPtr robot_model_;
  bool have_initial_ruckig_output_ = false;
  std::optional<ruckig::Ruckig<ruckig::DynamicDOFs>> ruckig_;
  std::optional<ruckig::InputParameter<ruckig::DynamicDOFs>> ruckig_input_;
  std::optional<ruckig::OutputParameter<ruckig::DynamicDOFs>> ruckig_output_;
};
}  // namespace online_signal_smoothing