trajectory_monitor.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/planning_scene_monitor/trajectory_monitor.hpp>
#include <moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp>
#include <moveit/trajectory_processing/trajectory_tools.hpp>
#include <limits>
#include <memory>
#include <moveit/utils/logger.hpp>
 
planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(const CurrentStateMonitorConstPtr& state_monitor,
                                                             double sampling_frequency)
  : TrajectoryMonitor(state_monitor, std::make_unique<TrajectoryMonitorMiddlewareHandle>(sampling_frequency),
                      sampling_frequency)
{
}
 
planning_scene_monitor::TrajectoryMonitor::TrajectoryMonitor(
    const CurrentStateMonitorConstPtr& state_monitor,
    std::unique_ptr<TrajectoryMonitor::MiddlewareHandle> middleware_handle, double sampling_frequency)
  : current_state_monitor_(state_monitor)
  , middleware_handle_(std::move(middleware_handle))
  , sampling_frequency_(sampling_frequency)
  , trajectory_(current_state_monitor_->getRobotModel(), "")
  , logger_(moveit::getLogger("moveit.ros.trajectory_monitor"))
{
  setSamplingFrequency(sampling_frequency);
}
 
planning_scene_monitor::TrajectoryMonitor::~TrajectoryMonitor()
{
  stopTrajectoryMonitor();
}
 
void planning_scene_monitor::TrajectoryMonitor::setSamplingFrequency(double sampling_frequency)
{
  if (sampling_frequency == sampling_frequency_)
    return;  // silently return if nothing changes
 
  if (sampling_frequency <= std::numeric_limits<double>::epsilon())
  {
    RCLCPP_ERROR(logger_, "The sampling frequency for trajectory states should be positive");
  }
  else
  {
    RCLCPP_DEBUG(logger_, "Setting trajectory sampling frequency to %.1f", sampling_frequency);
  }
  sampling_frequency_ = sampling_frequency;
}
 
bool planning_scene_monitor::TrajectoryMonitor::isActive() const
{
  return static_cast<bool>(record_states_thread_);
}
 
void planning_scene_monitor::TrajectoryMonitor::startTrajectoryMonitor()
{
  if (sampling_frequency_ > std::numeric_limits<double>::epsilon() && !record_states_thread_)
  {
    record_states_thread_ = std::make_unique<std::thread>([this] { recordStates(); });
    RCLCPP_DEBUG(logger_, "Started trajectory monitor");
  }
}
 
void planning_scene_monitor::TrajectoryMonitor::stopTrajectoryMonitor()
{
  if (record_states_thread_)
  {
    std::unique_ptr<std::thread> copy;
    copy.swap(record_states_thread_);
    copy->join();
    RCLCPP_DEBUG(logger_, "Stopped trajectory monitor");
  }
}
 
void planning_scene_monitor::TrajectoryMonitor::clearTrajectory()
{
  bool restart = isActive();
  if (restart)
    stopTrajectoryMonitor();
  trajectory_.clear();
  if (restart)
    startTrajectoryMonitor();
}
 
void planning_scene_monitor::TrajectoryMonitor::recordStates()
{
  if (!current_state_monitor_)
    return;
 
  middleware_handle_->setRate(sampling_frequency_);
 
  while (record_states_thread_)
  {
    middleware_handle_->sleep();
    std::pair<moveit::core::RobotStatePtr, rclcpp::Time> state = current_state_monitor_->getCurrentStateAndTime();
    if (trajectory_.empty())
    {
      trajectory_.addSuffixWayPoint(state.first, 0.0);
      trajectory_start_time_ = state.second;
      last_recorded_state_time_ = state.second;
    }
    else
    {
      trajectory_.addSuffixWayPoint(state.first, (state.second - last_recorded_state_time_).seconds());
      last_recorded_state_time_ = state.second;
    }
    if (state_add_callback_)
      state_add_callback_(state.first, state.second);
  }
}