trajectory_functions.hpp

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#pragma once
 
#include <Eigen/Geometry>
#include <kdl/trajectory.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
// TODO: Remove conditional include when released to all active distros.
#if __has_include(<tf2/transform_datatypes.hpp>)
#include <tf2/transform_datatypes.hpp>
#else
#include <tf2/transform_datatypes.h>
#endif
#include <trajectory_msgs/msg/multi_dof_joint_trajectory.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
 
#include <pilz_industrial_motion_planner/cartesian_trajectory.hpp>
#include <pilz_industrial_motion_planner/limits_container.hpp>
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.hpp>
 
namespace pilz_industrial_motion_planner
{
bool computePoseIK(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                   const std::string& link_name, const Eigen::Isometry3d& pose, const std::string& frame_id,
                   const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
                   bool check_self_collision = true, const double timeout = 0.0);
 
bool computePoseIK(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                   const std::string& link_name, const geometry_msgs::msg::Pose& pose, const std::string& frame_id,
                   const std::map<std::string, double>& seed, std::map<std::string, double>& solution,
                   bool check_self_collision = true, const double timeout = 0.0);
 
bool computeLinkFK(moveit::core::RobotState& robot_state, const std::string& link_name,
                   const std::map<std::string, double>& joint_state, Eigen::Isometry3d& pose);
 
bool computeLinkFK(moveit::core::RobotState& robot_state, const std::string& link_name,
                   const std::vector<std::string>& joint_names, const std::vector<double>& joint_positions,
                   Eigen::Isometry3d& pose);
 
bool verifySampleJointLimits(const std::map<std::string, double>& position_last,
                             const std::map<std::string, double>& velocity_last,
                             const std::map<std::string, double>& position_current, double duration_last,
                             double duration_current, const JointLimitsContainer& joint_limits);
 
bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr& scene,
                             const JointLimitsContainer& joint_limits, const KDL::Trajectory& trajectory,
                             const std::string& group_name, const std::string& link_name,
                             const std::map<std::string, double>& initial_joint_position, double sampling_time,
                             trajectory_msgs::msg::JointTrajectory& joint_trajectory,
                             moveit_msgs::msg::MoveItErrorCodes& error_code, bool check_self_collision = false);
 
bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr& scene,
                             const JointLimitsContainer& joint_limits,
                             const pilz_industrial_motion_planner::CartesianTrajectory& trajectory,
                             const std::string& group_name, const std::string& link_name,
                             const std::map<std::string, double>& initial_joint_position,
                             const std::map<std::string, double>& initial_joint_velocity,
                             trajectory_msgs::msg::JointTrajectory& joint_trajectory,
                             moveit_msgs::msg::MoveItErrorCodes& error_code, bool check_self_collision = false);
 
bool determineAndCheckSamplingTime(const robot_trajectory::RobotTrajectoryPtr& first_trajectory,
                                   const robot_trajectory::RobotTrajectoryPtr& second_trajectory, double EPSILON,
                                   double& sampling_time);
 
bool isRobotStateEqual(const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                       const std::string& joint_group_name, double epsilon);
 
bool isRobotStateStationary(const moveit::core::RobotState& state, const std::string& group, double EPSILON);
 
bool linearSearchIntersectionPoint(const std::string& link_name, const Eigen::Vector3d& center_position, const double r,
                                   const robot_trajectory::RobotTrajectoryPtr& traj, bool inverseOrder,
                                   std::size_t& index);
 
bool intersectionFound(const Eigen::Vector3d& p_center, const Eigen::Vector3d& p_current, const Eigen::Vector3d& p_next,
                       double r);
 
bool isStateColliding(const planning_scene::PlanningSceneConstPtr& scene, moveit::core::RobotState* state,
                      const moveit::core::JointModelGroup* const group, const double* const ik_solution);
}  // namespace pilz_industrial_motion_planner
 
void normalizeQuaternion(geometry_msgs::msg::Quaternion& quat);
 
Eigen::Isometry3d getConstraintPose(const geometry_msgs::msg::Point& position,
                                    const geometry_msgs::msg::Quaternion& orientation,
                                    const geometry_msgs::msg::Vector3& offset);
 
Eigen::Isometry3d getConstraintPose(const moveit_msgs::msg::Constraints& goal);