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kinematics_metrics, port to ROS 2 #66

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Apr 11, 2019
Merged

kinematics_metrics, port to ROS 2 #66

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9342051
kinematics_metrics, port to ROS 2
vmayoral Mar 31, 2019
cffeeaa
kinematics_metrics, adapt logging to https://github.com/ros-planning/…
vmayoral Mar 31, 2019
90dbf2d
Merge branch 'moveit2' into kinematics-metrics
vmayoral Apr 2, 2019
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13 changes: 8 additions & 5 deletions moveit_core/kinematics_metrics/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,14 @@ set(MOVEIT_LIB_NAME moveit_kinematics_metrics)
add_library(${MOVEIT_LIB_NAME} src/kinematics_metrics.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
ament_target_dependencies(${MOVEIT_LIB_NAME}
moveit_robot_state
urdf
urdfdom_headers
visualization_msgs)

install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY include/ DESTINATION include)
19 changes: 13 additions & 6 deletions moveit_core/kinematics_metrics/src/kinematics_metrics.cpp
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Expand Up @@ -38,9 +38,13 @@
#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
#include <boost/math/constants/constants.hpp>
#include "rclcpp/rclcpp.hpp"

namespace kinematics_metrics
{

rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("kinematics_metrics");

double KinematicsMetrics::getJointLimitsPenalty(const robot_state::RobotState& state,
const robot_model::JointModelGroup* joint_model_group) const
{
Expand Down Expand Up @@ -123,7 +127,7 @@ bool KinematicsMetrics::getManipulabilityIndex(const robot_state::RobotState& st
manipulability_index = 1.0;
for (unsigned int i = 0; i < singular_values.rows(); ++i)
{
ROS_DEBUG_NAMED("kinematics_metrics", "Singular value: %d %f", i, singular_values(i, 0));
RCLCPP_DEBUG(LOGGER, "Singular value: %d %f", i, singular_values(i, 0));
manipulability_index *= singular_values(i, 0);
}
// Get manipulability index
Expand All @@ -146,7 +150,7 @@ bool KinematicsMetrics::getManipulabilityIndex(const robot_state::RobotState& st
manipulability_index = 1.0;
for (unsigned int i = 0; i < singular_values.rows(); ++i)
{
ROS_DEBUG_NAMED("kinematics_metrics", "Singular value: %d %f", i, singular_values(i, 0));
RCLCPP_DEBUG(LOGGER, "Singular value: %d %f", i, singular_values(i, 0));
manipulability_index *= singular_values(i, 0);
}
// Get manipulability index
Expand Down Expand Up @@ -218,17 +222,20 @@ bool KinematicsMetrics::getManipulability(const robot_state::RobotState& state,
Eigen::MatrixXd jacobian = state.getJacobian(joint_model_group);
Eigen::JacobiSVD<Eigen::MatrixXd> svdsolver(jacobian.topLeftCorner(3, jacobian.cols()));
Eigen::MatrixXd singular_values = svdsolver.singularValues();
for (int i = 0; i < singular_values.rows(); ++i)
ROS_DEBUG_NAMED("kinematics_metrics", "Singular value: %d %f", i, singular_values(i, 0));
for (int i = 0; i < singular_values.rows(); ++i){
RCLCPP_DEBUG(LOGGER, "Singular value: %d %f", i, singular_values(i, 0));
}

manipulability = penalty * singular_values.minCoeff() / singular_values.maxCoeff();
}
else
{
Eigen::MatrixXd jacobian = state.getJacobian(joint_model_group);
Eigen::JacobiSVD<Eigen::MatrixXd> svdsolver(jacobian);
Eigen::MatrixXd singular_values = svdsolver.singularValues();
for (int i = 0; i < singular_values.rows(); ++i)
ROS_DEBUG_NAMED("kinematics_metrics", "Singular value: %d %f", i, singular_values(i, 0));
for (int i = 0; i < singular_values.rows(); ++i){
RCLCPP_DEBUG(LOGGER, "Singular value: %d %f", i, singular_values(i, 0));
}
manipulability = penalty * singular_values.minCoeff() / singular_values.maxCoeff();
}
return true;
Expand Down