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Impreovements in Kinematics metrics port to ROS 2 #88

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merged 3 commits into from
Jun 12, 2019
Merged

Impreovements in Kinematics metrics port to ROS 2 #88

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1079dda
moveit_core kinematics_metrics - library as shared
ahcorde May 24, 2019
ecb2350
moveit_core kinematics_metrics - Fixing CMakeLists.txt
ahcorde May 24, 2019
a62cd41
clang
Jun 1, 2019
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7 changes: 6 additions & 1 deletion moveit_core/kinematics_metrics/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
set(MOVEIT_LIB_NAME moveit_kinematics_metrics)

add_library(${MOVEIT_LIB_NAME} src/kinematics_metrics.cpp)
add_library(${MOVEIT_LIB_NAME} SHARED src/kinematics_metrics.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

ament_target_dependencies(${MOVEIT_LIB_NAME}
Expand All @@ -9,6 +9,11 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
urdfdom_headers
visualization_msgs)

target_link_libraries(${MOVEIT_LIB_NAME}
moveit_robot_model
moveit_robot_state
)

install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
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9 changes: 5 additions & 4 deletions moveit_core/kinematics_metrics/src/kinematics_metrics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@

namespace kinematics_metrics
{

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

double KinematicsMetrics::getJointLimitsPenalty(const robot_state::RobotState& state,
Expand Down Expand Up @@ -222,7 +221,8 @@ 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){
for (int i = 0; i < singular_values.rows(); ++i)
{
RCLCPP_DEBUG(LOGGER, "Singular value: %d %f", i, singular_values(i, 0));
}

Expand All @@ -233,8 +233,9 @@ bool KinematicsMetrics::getManipulability(const robot_state::RobotState& state,
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){
RCLCPP_DEBUG(LOGGER, "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();
}
Expand Down