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robot_state.cpp
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robot_state.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Ioan A. Sucan
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan, Sachin Chitta, Acorn Pooley, Mario Prats, Dave Coleman */
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/cartesian_interpolator.h>
#include <moveit/transforms/transforms.h>
#include <geometric_shapes/check_isometry.h>
#include <geometric_shapes/shape_operations.h>
#include <tf2_eigen/tf2_eigen.h>
#include <moveit/backtrace/backtrace.h>
#include <moveit/profiler/profiler.h>
#include <moveit/macros/console_colors.h>
#include <boost/bind.hpp>
#include <moveit/robot_model/aabb.h>
#include "rclcpp/rclcpp.hpp"
namespace moveit
{
namespace core
{
// Logger
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_robot_state.robot_state");
RobotState::RobotState(const RobotModelConstPtr& robot_model)
: robot_model_(robot_model)
, has_velocity_(false)
, has_acceleration_(false)
, has_effort_(false)
, dirty_link_transforms_(nullptr)
, dirty_collision_body_transforms_(nullptr)
, rng_(nullptr)
{
if (robot_model == nullptr)
{
throw std::invalid_argument("RobotState cannot be constructed with nullptr RobotModelConstPtr");
}
dirty_link_transforms_ = robot_model_->getRootJoint();
allocMemory();
initTransforms();
}
RobotState::RobotState(const RobotState& other) : rng_(nullptr)
{
robot_model_ = other.robot_model_;
allocMemory();
copyFrom(other);
}
RobotState::~RobotState()
{
clearAttachedBodies();
free(memory_);
if (rng_)
delete rng_;
}
void RobotState::allocMemory()
{
static_assert((sizeof(Eigen::Isometry3d) / EIGEN_MAX_ALIGN_BYTES) * EIGEN_MAX_ALIGN_BYTES == sizeof(Eigen::Isometry3d),
"sizeof(Eigen::Isometry3d) should be a multiple of EIGEN_MAX_ALIGN_BYTES");
constexpr unsigned int extra_alignment_bytes = EIGEN_MAX_ALIGN_BYTES - 1;
// memory for the dirty joint transforms
const int nr_doubles_for_dirty_joint_transforms =
1 + robot_model_->getJointModelCount() / (sizeof(double) / sizeof(unsigned char));
const size_t bytes =
sizeof(Eigen::Isometry3d) * (robot_model_->getJointModelCount() + robot_model_->getLinkModelCount() +
robot_model_->getLinkGeometryCount()) +
sizeof(double) * (robot_model_->getVariableCount() * 3 + nr_doubles_for_dirty_joint_transforms) +
extra_alignment_bytes;
memory_ = malloc(bytes);
// make the memory for transforms align at EIGEN_MAX_ALIGN_BYTES
// https://eigen.tuxfamily.org/dox/classEigen_1_1aligned__allocator.html
variable_joint_transforms_ = reinterpret_cast<Eigen::Isometry3d*>(((uintptr_t)memory_ + extra_alignment_bytes) &
~(uintptr_t)extra_alignment_bytes);
global_link_transforms_ = variable_joint_transforms_ + robot_model_->getJointModelCount();
global_collision_body_transforms_ = global_link_transforms_ + robot_model_->getLinkModelCount();
dirty_joint_transforms_ =
reinterpret_cast<unsigned char*>(global_collision_body_transforms_ + robot_model_->getLinkGeometryCount());
position_ = reinterpret_cast<double*>(dirty_joint_transforms_) + nr_doubles_for_dirty_joint_transforms;
velocity_ = position_ + robot_model_->getVariableCount();
// acceleration and effort share the memory (not both can be specified)
effort_ = acceleration_ = velocity_ + robot_model_->getVariableCount();
}
void RobotState::initTransforms()
{
// mark all transforms as dirty
const int nr_doubles_for_dirty_joint_transforms =
1 + robot_model_->getJointModelCount() / (sizeof(double) / sizeof(unsigned char));
memset(dirty_joint_transforms_, 1, sizeof(double) * nr_doubles_for_dirty_joint_transforms);
// initialize last row of transformation matrices, which will not be modified by transform updates anymore
for (size_t i = 0, end = robot_model_->getJointModelCount() + robot_model_->getLinkModelCount() +
robot_model_->getLinkGeometryCount();
i != end; ++i)
variable_joint_transforms_[i].makeAffine();
}
RobotState& RobotState::operator=(const RobotState& other)
{
if (this != &other)
copyFrom(other);
return *this;
}
void RobotState::copyFrom(const RobotState& other)
{
has_velocity_ = other.has_velocity_;
has_acceleration_ = other.has_acceleration_;
has_effort_ = other.has_effort_;
dirty_collision_body_transforms_ = other.dirty_collision_body_transforms_;
dirty_link_transforms_ = other.dirty_link_transforms_;
if (dirty_link_transforms_ == robot_model_->getRootJoint())
{
// everything is dirty; no point in copying transforms; copy positions, potentially velocity & acceleration
memcpy(position_, other.position_,
robot_model_->getVariableCount() * sizeof(double) *
(1 + (has_velocity_ ? 1 : 0) + ((has_acceleration_ || has_effort_) ? 1 : 0)));
// and just initialize transforms
initTransforms();
}
else
{
// copy all the memory; maybe avoid copying velocity and acceleration if possible
const int nr_doubles_for_dirty_joint_transforms =
1 + robot_model_->getJointModelCount() / (sizeof(double) / sizeof(unsigned char));
const size_t bytes =
sizeof(Eigen::Isometry3d) * (robot_model_->getJointModelCount() + robot_model_->getLinkModelCount() +
robot_model_->getLinkGeometryCount()) +
sizeof(double) *
(robot_model_->getVariableCount() * (1 + ((has_velocity_ || has_acceleration_ || has_effort_) ? 1 : 0) +
((has_acceleration_ || has_effort_) ? 1 : 0)) +
nr_doubles_for_dirty_joint_transforms);
memcpy((void*)variable_joint_transforms_, (void*)other.variable_joint_transforms_, bytes);
}
// copy attached bodies
clearAttachedBodies();
for (const std::pair<const std::string, AttachedBody*>& it : other.attached_body_map_)
attachBody(it.second->getName(), it.second->getShapes(), it.second->getFixedTransforms(),
it.second->getTouchLinks(), it.second->getAttachedLinkName(), it.second->getDetachPosture(),
it.second->getSubframeTransforms());
}
bool RobotState::checkJointTransforms(const JointModel* joint) const
{
if (dirtyJointTransform(joint))
{
RCLCPP_WARN(LOGGER, "Returning dirty joint transforms for joint '%s'", joint->getName().c_str());
return false;
}
return true;
}
bool RobotState::checkLinkTransforms() const
{
if (dirtyLinkTransforms())
{
RCLCPP_WARN(LOGGER, "Returning dirty link transforms");
return false;
}
return true;
}
bool RobotState::checkCollisionTransforms() const
{
if (dirtyCollisionBodyTransforms())
{
RCLCPP_WARN(LOGGER, "Returning dirty collision body transforms");
return false;
}
return true;
}
void RobotState::markVelocity()
{
if (!has_velocity_)
{
has_velocity_ = true;
memset(velocity_, 0, sizeof(double) * robot_model_->getVariableCount());
}
}
void RobotState::markAcceleration()
{
if (!has_acceleration_)
{
has_acceleration_ = true;
has_effort_ = false;
memset(acceleration_, 0, sizeof(double) * robot_model_->getVariableCount());
}
}
void RobotState::markEffort()
{
if (!has_effort_)
{
has_acceleration_ = false;
has_effort_ = true;
memset(effort_, 0, sizeof(double) * robot_model_->getVariableCount());
}
}
void RobotState::zeroVelocities()
{
has_velocity_ = false;
markVelocity();
}
void RobotState::zeroAccelerations()
{
has_acceleration_ = false;
markAcceleration();
}
void RobotState::zeroEffort()
{
has_effort_ = false;
markEffort();
}
void RobotState::dropVelocities()
{
has_velocity_ = false;
}
void RobotState::dropAccelerations()
{
has_acceleration_ = false;
}
void RobotState::dropEffort()
{
has_effort_ = false;
}
void RobotState::dropDynamics()
{
dropVelocities();
dropAccelerations();
dropEffort();
}
void RobotState::setToRandomPositions()
{
random_numbers::RandomNumberGenerator& rng = getRandomNumberGenerator();
robot_model_->getVariableRandomPositions(rng, position_);
memset(dirty_joint_transforms_, 1, robot_model_->getJointModelCount() * sizeof(unsigned char));
dirty_link_transforms_ = robot_model_->getRootJoint();
// mimic values are correctly set in RobotModel
}
void RobotState::setToRandomPositions(const JointModelGroup* group)
{
// we do not make calls to RobotModel for random number generation because mimic joints
// could trigger updates outside the state of the group itself
random_numbers::RandomNumberGenerator& rng = getRandomNumberGenerator();
setToRandomPositions(group, rng);
}
void RobotState::setToRandomPositions(const JointModelGroup* group, random_numbers::RandomNumberGenerator& rng)
{
const std::vector<const JointModel*>& joints = group->getActiveJointModels();
for (const JointModel* joint : joints)
joint->getVariableRandomPositions(rng, position_ + joint->getFirstVariableIndex());
updateMimicJoints(group);
}
void RobotState::setToRandomPositionsNearBy(const JointModelGroup* group, const RobotState& near,
const std::vector<double>& distances)
{
// we do not make calls to RobotModel for random number generation because mimic joints
// could trigger updates outside the state of the group itself
random_numbers::RandomNumberGenerator& rng = getRandomNumberGenerator();
const std::vector<const JointModel*>& joints = group->getActiveJointModels();
assert(distances.size() == joints.size());
for (std::size_t i = 0; i < joints.size(); ++i)
{
const int idx = joints[i]->getFirstVariableIndex();
joints[i]->getVariableRandomPositionsNearBy(rng, position_ + joints[i]->getFirstVariableIndex(),
near.position_ + idx, distances[i]);
}
updateMimicJoints(group);
}
void RobotState::setToRandomPositionsNearBy(const JointModelGroup* group, const RobotState& near, double distance)
{
// we do not make calls to RobotModel for random number generation because mimic joints
// could trigger updates outside the state of the group itself
random_numbers::RandomNumberGenerator& rng = getRandomNumberGenerator();
const std::vector<const JointModel*>& joints = group->getActiveJointModels();
for (const JointModel* joint : joints)
{
const int idx = joint->getFirstVariableIndex();
joint->getVariableRandomPositionsNearBy(rng, position_ + joint->getFirstVariableIndex(), near.position_ + idx,
distance);
}
updateMimicJoints(group);
}
bool RobotState::setToDefaultValues(const JointModelGroup* group, const std::string& name)
{
std::map<std::string, double> m;
bool r = group->getVariableDefaultPositions(name, m); // mimic values are updated
setVariablePositions(m);
return r;
}
void RobotState::setToDefaultValues()
{
robot_model_->getVariableDefaultPositions(position_); // mimic values are updated
// set velocity & acceleration to 0
memset(velocity_, 0, sizeof(double) * 2 * robot_model_->getVariableCount());
memset(dirty_joint_transforms_, 1, robot_model_->getJointModelCount() * sizeof(unsigned char));
dirty_link_transforms_ = robot_model_->getRootJoint();
}
void RobotState::setVariablePositions(const double* position)
{
// assume everything is in order in terms of array lengths (for efficiency reasons)
memcpy(position_, position, robot_model_->getVariableCount() * sizeof(double));
// the full state includes mimic joint values, so no need to update mimic here
// Since all joint values have potentially changed, we will need to recompute all transforms
memset(dirty_joint_transforms_, 1, robot_model_->getJointModelCount() * sizeof(unsigned char));
dirty_link_transforms_ = robot_model_->getRootJoint();
}
void RobotState::setVariablePositions(const std::map<std::string, double>& variable_map)
{
for (const std::pair<const std::string, double>& it : variable_map)
{
const int index = robot_model_->getVariableIndex(it.first);
position_[index] = it.second;
const JointModel* jm = robot_model_->getJointOfVariable(index);
markDirtyJointTransforms(jm);
updateMimicJoint(jm);
}
}
void RobotState::getMissingKeys(const std::map<std::string, double>& variable_map,
std::vector<std::string>& missing_variables) const
{
missing_variables.clear();
const std::vector<std::string>& nm = robot_model_->getVariableNames();
for (const std::string& variable_name : nm)
if (variable_map.find(variable_name) == variable_map.end())
if (robot_model_->getJointOfVariable(variable_name)->getMimic() == nullptr)
missing_variables.push_back(variable_name);
}
void RobotState::setVariablePositions(const std::map<std::string, double>& variable_map,
std::vector<std::string>& missing_variables)
{
setVariablePositions(variable_map);
getMissingKeys(variable_map, missing_variables);
}
void RobotState::setVariablePositions(const std::vector<std::string>& variable_names,
const std::vector<double>& variable_position)
{
for (std::size_t i = 0; i < variable_names.size(); ++i)
{
const int index = robot_model_->getVariableIndex(variable_names[i]);
position_[index] = variable_position[i];
const JointModel* jm = robot_model_->getJointOfVariable(index);
markDirtyJointTransforms(jm);
updateMimicJoint(jm);
}
}
void RobotState::setVariableVelocities(const std::map<std::string, double>& variable_map)
{
markVelocity();
for (const std::pair<const std::string, double>& it : variable_map)
velocity_[robot_model_->getVariableIndex(it.first)] = it.second;
}
void RobotState::setVariableVelocities(const std::map<std::string, double>& variable_map,
std::vector<std::string>& missing_variables)
{
setVariableVelocities(variable_map);
getMissingKeys(variable_map, missing_variables);
}
void RobotState::setVariableVelocities(const std::vector<std::string>& variable_names,
const std::vector<double>& variable_velocity)
{
markVelocity();
assert(variable_names.size() == variable_velocity.size());
for (std::size_t i = 0; i < variable_names.size(); ++i)
velocity_[robot_model_->getVariableIndex(variable_names[i])] = variable_velocity[i];
}
void RobotState::setVariableAccelerations(const std::map<std::string, double>& variable_map)
{
markAcceleration();
for (const std::pair<const std::string, double>& it : variable_map)
acceleration_[robot_model_->getVariableIndex(it.first)] = it.second;
}
void RobotState::setVariableAccelerations(const std::map<std::string, double>& variable_map,
std::vector<std::string>& missing_variables)
{
setVariableAccelerations(variable_map);
getMissingKeys(variable_map, missing_variables);
}
void RobotState::setVariableAccelerations(const std::vector<std::string>& variable_names,
const std::vector<double>& variable_acceleration)
{
markAcceleration();
assert(variable_names.size() == variable_acceleration.size());
for (std::size_t i = 0; i < variable_names.size(); ++i)
acceleration_[robot_model_->getVariableIndex(variable_names[i])] = variable_acceleration[i];
}
void RobotState::setVariableEffort(const std::map<std::string, double>& variable_map)
{
markEffort();
for (const std::pair<const std::string, double>& it : variable_map)
acceleration_[robot_model_->getVariableIndex(it.first)] = it.second;
}
void RobotState::setVariableEffort(const std::map<std::string, double>& variable_map,
std::vector<std::string>& missing_variables)
{
setVariableEffort(variable_map);
getMissingKeys(variable_map, missing_variables);
}
void RobotState::setVariableEffort(const std::vector<std::string>& variable_names,
const std::vector<double>& variable_effort)
{
markEffort();
assert(variable_names.size() == variable_effort.size());
for (std::size_t i = 0; i < variable_names.size(); ++i)
effort_[robot_model_->getVariableIndex(variable_names[i])] = variable_effort[i];
}
void RobotState::invertVelocity()
{
if (has_velocity_)
{
for (size_t i = 0; i < robot_model_->getVariableCount(); ++i)
velocity_[i] *= -1;
}
}
void RobotState::setJointEfforts(const JointModel* joint, const double* effort)
{
if (has_acceleration_)
{
RCLCPP_ERROR(LOGGER, "Unable to set joint efforts because array is being used for accelerations");
return;
}
has_effort_ = true;
memcpy(effort_ + joint->getFirstVariableIndex(), effort, joint->getVariableCount() * sizeof(double));
}
void RobotState::setJointGroupPositions(const JointModelGroup* group, const double* gstate)
{
const std::vector<int>& il = group->getVariableIndexList();
if (group->isContiguousWithinState())
memcpy(position_ + il[0], gstate, group->getVariableCount() * sizeof(double));
else
{
for (std::size_t i = 0; i < il.size(); ++i)
position_[il[i]] = gstate[i];
}
updateMimicJoints(group);
}
void RobotState::setJointGroupPositions(const JointModelGroup* group, const Eigen::VectorXd& values)
{
const std::vector<int>& il = group->getVariableIndexList();
for (std::size_t i = 0; i < il.size(); ++i)
position_[il[i]] = values(i);
updateMimicJoints(group);
}
void RobotState::setJointGroupActivePositions(const JointModelGroup* group, const std::vector<double>& gstate)
{
assert(gstate.size() == group->getActiveVariableCount());
std::size_t i = 0;
for (const JointModel* jm : group->getActiveJointModels())
{
setJointPositions(jm, &gstate[i]);
i += jm->getVariableCount();
}
updateMimicJoints(group);
}
void RobotState::setJointGroupActivePositions(const JointModelGroup* group, const Eigen::VectorXd& values)
{
assert(values.size() == group->getActiveVariableCount());
std::size_t i = 0;
for (const JointModel* jm : group->getActiveJointModels())
{
setJointPositions(jm, &values(i));
i += jm->getVariableCount();
}
updateMimicJoints(group);
}
void RobotState::copyJointGroupPositions(const JointModelGroup* group, double* gstate) const
{
const std::vector<int>& il = group->getVariableIndexList();
if (group->isContiguousWithinState())
memcpy(gstate, position_ + il[0], group->getVariableCount() * sizeof(double));
else
for (std::size_t i = 0; i < il.size(); ++i)
gstate[i] = position_[il[i]];
}
void RobotState::copyJointGroupPositions(const JointModelGroup* group, Eigen::VectorXd& values) const
{
const std::vector<int>& il = group->getVariableIndexList();
values.resize(il.size());
for (std::size_t i = 0; i < il.size(); ++i)
values(i) = position_[il[i]];
}
void RobotState::setJointGroupVelocities(const JointModelGroup* group, const double* gstate)
{
markVelocity();
const std::vector<int>& il = group->getVariableIndexList();
if (group->isContiguousWithinState())
memcpy(velocity_ + il[0], gstate, group->getVariableCount() * sizeof(double));
else
{
for (std::size_t i = 0; i < il.size(); ++i)
velocity_[il[i]] = gstate[i];
}
}
void RobotState::setJointGroupVelocities(const JointModelGroup* group, const Eigen::VectorXd& values)
{
markVelocity();
const std::vector<int>& il = group->getVariableIndexList();
for (std::size_t i = 0; i < il.size(); ++i)
velocity_[il[i]] = values(i);
}
void RobotState::copyJointGroupVelocities(const JointModelGroup* group, double* gstate) const
{
const std::vector<int>& il = group->getVariableIndexList();
if (group->isContiguousWithinState())
memcpy(gstate, velocity_ + il[0], group->getVariableCount() * sizeof(double));
else
for (std::size_t i = 0; i < il.size(); ++i)
gstate[i] = velocity_[il[i]];
}
void RobotState::copyJointGroupVelocities(const JointModelGroup* group, Eigen::VectorXd& values) const
{
const std::vector<int>& il = group->getVariableIndexList();
values.resize(il.size());
for (std::size_t i = 0; i < il.size(); ++i)
values(i) = velocity_[il[i]];
}
void RobotState::setJointGroupAccelerations(const JointModelGroup* group, const double* gstate)
{
markAcceleration();
const std::vector<int>& il = group->getVariableIndexList();
if (group->isContiguousWithinState())
memcpy(acceleration_ + il[0], gstate, group->getVariableCount() * sizeof(double));
else
{
for (std::size_t i = 0; i < il.size(); ++i)
acceleration_[il[i]] = gstate[i];
}
}
void RobotState::setJointGroupAccelerations(const JointModelGroup* group, const Eigen::VectorXd& values)
{
markAcceleration();
const std::vector<int>& il = group->getVariableIndexList();
for (std::size_t i = 0; i < il.size(); ++i)
acceleration_[il[i]] = values(i);
}
void RobotState::copyJointGroupAccelerations(const JointModelGroup* group, double* gstate) const
{
const std::vector<int>& il = group->getVariableIndexList();
if (group->isContiguousWithinState())
memcpy(gstate, acceleration_ + il[0], group->getVariableCount() * sizeof(double));
else
for (std::size_t i = 0; i < il.size(); ++i)
gstate[i] = acceleration_[il[i]];
}
void RobotState::copyJointGroupAccelerations(const JointModelGroup* group, Eigen::VectorXd& values) const
{
const std::vector<int>& il = group->getVariableIndexList();
values.resize(il.size());
for (std::size_t i = 0; i < il.size(); ++i)
values(i) = acceleration_[il[i]];
}
void RobotState::update(bool force)
{
// make sure we do everything from scratch if needed
if (force)
{
memset(dirty_joint_transforms_, 1, robot_model_->getJointModelCount() * sizeof(unsigned char));
dirty_link_transforms_ = robot_model_->getRootJoint();
}
// this actually triggers all needed updates
updateCollisionBodyTransforms();
}
void RobotState::updateCollisionBodyTransforms()
{
if (dirty_link_transforms_ != nullptr)
updateLinkTransforms();
if (dirty_collision_body_transforms_ != nullptr)
{
const std::vector<const LinkModel*>& links = dirty_collision_body_transforms_->getDescendantLinkModels();
dirty_collision_body_transforms_ = nullptr;
for (const LinkModel* link : links)
{
const EigenSTL::vector_Isometry3d& ot = link->getCollisionOriginTransforms();
const std::vector<int>& ot_id = link->areCollisionOriginTransformsIdentity();
const int index_co = link->getFirstCollisionBodyTransformIndex();
const int index_l = link->getLinkIndex();
for (std::size_t j = 0, end = ot.size(); j != end; ++j)
{
if (ot_id[j])
global_collision_body_transforms_[index_co + j] = global_link_transforms_[index_l];
else
global_collision_body_transforms_[index_co + j].affine().noalias() =
global_link_transforms_[index_l].affine() * ot[j].matrix();
}
}
}
}
void RobotState::updateLinkTransforms()
{
if (dirty_link_transforms_ != nullptr)
{
updateLinkTransformsInternal(dirty_link_transforms_);
if (dirty_collision_body_transforms_)
dirty_collision_body_transforms_ =
robot_model_->getCommonRoot(dirty_collision_body_transforms_, dirty_link_transforms_);
else
dirty_collision_body_transforms_ = dirty_link_transforms_;
dirty_link_transforms_ = nullptr;
}
}
void RobotState::updateLinkTransformsInternal(const JointModel* start)
{
for (const LinkModel* link : start->getDescendantLinkModels())
{
int idx_link = link->getLinkIndex();
const LinkModel* parent = link->getParentLinkModel();
if (parent) // root JointModel will not have a parent
{
int idx_parent = parent->getLinkIndex();
if (link->parentJointIsFixed()) // fixed joint
global_link_transforms_[idx_link].affine().noalias() =
global_link_transforms_[idx_parent].affine() * link->getJointOriginTransform().matrix();
else // non-fixed joint
{
if (link->jointOriginTransformIsIdentity()) // Link has identity transform
global_link_transforms_[idx_link].affine().noalias() =
global_link_transforms_[idx_parent].affine() * getJointTransform(link->getParentJointModel()).matrix();
else // Link has non-identity transform
global_link_transforms_[idx_link].affine().noalias() =
global_link_transforms_[idx_parent].affine() * link->getJointOriginTransform().matrix() *
getJointTransform(link->getParentJointModel()).matrix();
}
}
else // is the origin / root / 'model frame'
{
if (link->jointOriginTransformIsIdentity())
global_link_transforms_[idx_link] = getJointTransform(link->getParentJointModel());
else
global_link_transforms_[idx_link].affine().noalias() =
link->getJointOriginTransform().affine() * getJointTransform(link->getParentJointModel()).matrix();
}
}
// update attached bodies tf; these are usually very few, so we update them all
for (std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.begin();
it != attached_body_map_.end(); ++it)
it->second->computeTransform(global_link_transforms_[it->second->getAttachedLink()->getLinkIndex()]);
}
void RobotState::updateStateWithLinkAt(const LinkModel* link, const Eigen::Isometry3d& transform, bool backward)
{
updateLinkTransforms(); // no link transforms must be dirty, otherwise the transform we set will be overwritten
// update the fact that collision body transforms are out of date
if (dirty_collision_body_transforms_)
dirty_collision_body_transforms_ =
robot_model_->getCommonRoot(dirty_collision_body_transforms_, link->getParentJointModel());
else
dirty_collision_body_transforms_ = link->getParentJointModel();
global_link_transforms_[link->getLinkIndex()] = transform;
// update link transforms for descendant links only (leaving the transform for the current link untouched)
const std::vector<const JointModel*>& cj = link->getChildJointModels();
for (const JointModel* joint : cj)
updateLinkTransformsInternal(joint);
// if we also need to go backward
if (backward)
{
const LinkModel* parent_link = link;
const LinkModel* child_link;
while (parent_link->getParentJointModel()->getParentLinkModel())
{
child_link = parent_link;
parent_link = parent_link->getParentJointModel()->getParentLinkModel();
// update the transform of the parent
global_link_transforms_[parent_link->getLinkIndex()] =
global_link_transforms_[child_link->getLinkIndex()] *
(child_link->getJointOriginTransform() *
variable_joint_transforms_[child_link->getParentJointModel()->getJointIndex()])
.inverse();
// update link transforms for descendant links only (leaving the transform for the current link untouched)
// with the exception of the child link we are coming backwards from
const std::vector<const JointModel*>& cj = parent_link->getChildJointModels();
for (const JointModel* joint : cj)
if (joint != child_link->getParentJointModel())
updateLinkTransformsInternal(joint);
}
// all collision body transforms are invalid now
dirty_collision_body_transforms_ = parent_link->getParentJointModel();
}
// update attached bodies tf; these are usually very few, so we update them all
for (std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.begin();
it != attached_body_map_.end(); ++it)
it->second->computeTransform(global_link_transforms_[it->second->getAttachedLink()->getLinkIndex()]);
}
bool RobotState::satisfiesBounds(double margin) const
{
const std::vector<const JointModel*>& jm = robot_model_->getActiveJointModels();
for (const JointModel* joint : jm)
if (!satisfiesBounds(joint, margin))
return false;
return true;
}
bool RobotState::satisfiesBounds(const JointModelGroup* group, double margin) const
{
const std::vector<const JointModel*>& jm = group->getActiveJointModels();
for (const JointModel* joint : jm)
if (!satisfiesBounds(joint, margin))
return false;
return true;
}
void RobotState::enforceBounds()
{
const std::vector<const JointModel*>& jm = robot_model_->getActiveJointModels();
for (const JointModel* joint : jm)
enforceBounds(joint);
}
void RobotState::enforceBounds(const JointModelGroup* joint_group)
{
const std::vector<const JointModel*>& jm = joint_group->getActiveJointModels();
for (const JointModel* joint : jm)
enforceBounds(joint);
}
void RobotState::harmonizePositions()
{
for (const JointModel* jm : robot_model_->getActiveJointModels())
harmonizePosition(jm);
}
void RobotState::harmonizePositions(const JointModelGroup* joint_group)
{
for (const JointModel* jm : joint_group->getActiveJointModels())
harmonizePosition(jm);
}
std::pair<double, const JointModel*> RobotState::getMinDistanceToPositionBounds() const
{
return getMinDistanceToPositionBounds(robot_model_->getActiveJointModels());
}
std::pair<double, const JointModel*> RobotState::getMinDistanceToPositionBounds(const JointModelGroup* group) const
{
return getMinDistanceToPositionBounds(group->getActiveJointModels());
}
std::pair<double, const JointModel*>
RobotState::getMinDistanceToPositionBounds(const std::vector<const JointModel*>& joints) const
{
double distance = std::numeric_limits<double>::max();
const JointModel* index = nullptr;
for (const JointModel* joint : joints)
{
if (joint->getType() == JointModel::PLANAR || joint->getType() == JointModel::FLOATING)
continue;
if (joint->getType() == JointModel::REVOLUTE)
if (static_cast<const RevoluteJointModel*>(joint)->isContinuous())
continue;
const double* joint_values = getJointPositions(joint);
const JointModel::Bounds& bounds = joint->getVariableBounds();
std::vector<double> lower_bounds(bounds.size()), upper_bounds(bounds.size());
for (std::size_t j = 0; j < bounds.size(); ++j)
{
lower_bounds[j] = bounds[j].min_position_;
upper_bounds[j] = bounds[j].max_position_;
}
double new_distance = joint->distance(joint_values, &lower_bounds[0]);
if (new_distance < distance)
{
index = joint;
distance = new_distance;
}
new_distance = joint->distance(joint_values, &upper_bounds[0]);
if (new_distance < distance)
{
index = joint;
distance = new_distance;
}
}
return std::make_pair(distance, index);
}
bool RobotState::isValidVelocityMove(const RobotState& other, const JointModelGroup* group, double dt) const
{
const std::vector<const JointModel*>& jm = group->getActiveJointModels();
for (const JointModel* joint_id : jm)
{
const int idx = joint_id->getFirstVariableIndex();
const std::vector<VariableBounds>& bounds = joint_id->getVariableBounds();
// Check velocity for each joint variable
for (std::size_t var_id = 0; var_id < joint_id->getVariableCount(); ++var_id)
{
const double dtheta = std::abs(*(position_ + idx + var_id) - *(other.getVariablePositions() + idx + var_id));
if (dtheta > dt * bounds[var_id].max_velocity_)
return false;
}
}
return true;
}
double RobotState::distance(const RobotState& other, const JointModelGroup* joint_group) const
{
double d = 0.0;
const std::vector<const JointModel*>& jm = joint_group->getActiveJointModels();
for (const JointModel* joint : jm)
{
const int idx = joint->getFirstVariableIndex();
d += joint->getDistanceFactor() * joint->distance(position_ + idx, other.position_ + idx);
}
return d;
}
void RobotState::interpolate(const RobotState& to, double t, RobotState& state) const
{
moveit::core::checkInterpolationParamBounds(LOGGER, t);
robot_model_->interpolate(getVariablePositions(), to.getVariablePositions(), t, state.getVariablePositions());
memset(state.dirty_joint_transforms_, 1, state.robot_model_->getJointModelCount() * sizeof(unsigned char));
state.dirty_link_transforms_ = state.robot_model_->getRootJoint();
}
void RobotState::interpolate(const RobotState& to, double t, RobotState& state, const JointModelGroup* joint_group) const
{
moveit::core::checkInterpolationParamBounds(LOGGER, t);
const std::vector<const JointModel*>& jm = joint_group->getActiveJointModels();
for (const JointModel* joint : jm)
{
const int idx = joint->getFirstVariableIndex();
joint->interpolate(position_ + idx, to.position_ + idx, t, state.position_ + idx);
}
state.updateMimicJoints(joint_group);
}
void RobotState::setAttachedBodyUpdateCallback(const AttachedBodyCallback& callback)
{
attached_body_update_callback_ = callback;
}
bool RobotState::hasAttachedBody(const std::string& id) const
{
return attached_body_map_.find(id) != attached_body_map_.end();
}
const AttachedBody* RobotState::getAttachedBody(const std::string& id) const
{
std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.find(id);
if (it == attached_body_map_.end())
{
RCLCPP_ERROR(LOGGER, "Attached body '%s' not found", id.c_str());
return nullptr;
}
else
return it->second;
}
void RobotState::attachBody(AttachedBody* attached_body)
{
// If an attached body with the same id exists, remove it
clearAttachedBody(attached_body->getName());
attached_body_map_[attached_body->getName()] = attached_body;
attached_body->computeTransform(getGlobalLinkTransform(attached_body->getAttachedLink()));
if (attached_body_update_callback_)
attached_body_update_callback_(attached_body, true);
}
void RobotState::attachBody(const std::string& id, const std::vector<shapes::ShapeConstPtr>& shapes,
const EigenSTL::vector_Isometry3d& shape_poses, const std::set<std::string>& touch_links,
const std::string& link, const trajectory_msgs::msg::JointTrajectory& detach_posture,
const moveit::core::FixedTransformsMap& subframe_poses)
{
const LinkModel* l = robot_model_->getLinkModel(link);
attachBody(new AttachedBody(l, id, shapes, shape_poses, touch_links, detach_posture, subframe_poses));
}
void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies) const
{
attached_bodies.clear();
attached_bodies.reserve(attached_body_map_.size());
for (const std::pair<const std::string, AttachedBody*>& it : attached_body_map_)
attached_bodies.push_back(it.second);
}
void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const JointModelGroup* group) const
{
attached_bodies.clear();
for (const std::pair<const std::string, AttachedBody*>& it : attached_body_map_)
if (group->hasLinkModel(it.second->getAttachedLinkName()))
attached_bodies.push_back(it.second);
}
void RobotState::getAttachedBodies(std::vector<const AttachedBody*>& attached_bodies, const LinkModel* link_model) const
{
attached_bodies.clear();
for (const std::pair<const std::string, AttachedBody*>& it : attached_body_map_)
if (it.second->getAttachedLink() == link_model)
attached_bodies.push_back(it.second);
}
void RobotState::clearAttachedBodies()
{
for (std::map<std::string, AttachedBody*>::const_iterator it = attached_body_map_.begin();