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imarker_robot_state.h
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imarker_robot_state.h
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2016, University of Colorado, Boulder
* 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 Univ of Colorado 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: Dave Coleman
Desc: Class to encapsule a visualized robot state that can be controlled using an interactive marker
*/
#ifndef MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H
#define MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H
// ROS
#include <ros/ros.h>
#include <interactive_markers/interactive_marker_server.h>
#include <visualization_msgs/InteractiveMarkerFeedback.h>
// MoveIt
#include <moveit/robot_state/robot_state.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
// C++
#include <string>
#include <vector>
namespace moveit_visual_tools
{
using visualization_msgs::InteractiveMarkerFeedback;
using visualization_msgs::InteractiveMarkerControl;
typedef std::function<void(const visualization_msgs::InteractiveMarkerFeedbackConstPtr&, const Eigen::Affine3d&)>
IMarkerCallback;
typedef std::shared_ptr<interactive_markers::InteractiveMarkerServer> InteractiveMarkerServerPtr;
class IMarkerEndEffector;
typedef std::shared_ptr<IMarkerEndEffector> IMarkerEndEffectorPtr;
typedef std::shared_ptr<const IMarkerEndEffector> IMarkerEndEffectorConstPtr;
/** \brief I wish this struct wasn't necessary, but the SRDF does not seem to support choosing one particular link
* as an end effector tip - instead it does so automatically.
*/
struct ArmData
{
ArmData(moveit::core::JointModelGroup* jmg, moveit::core::LinkModel* ee_link) : jmg_(jmg), ee_link_(ee_link){};
moveit::core::JointModelGroup* jmg_;
moveit::core::LinkModel* ee_link_;
};
class IMarkerRobotState
{
friend class IMarkerEndEffector;
public:
/**
* \brief Constructor
*/
IMarkerRobotState(planning_scene_monitor::PlanningSceneMonitorPtr psm, const std::string& imarker_name,
std::vector<ArmData> arm_datas, rviz_visual_tools::colors color, const std::string& package_path);
~IMarkerRobotState()
{
output_file_.close();
}
bool loadFromFile(const std::string& file_name);
bool saveToFile();
/** \brief Set where in the parent class the feedback should be sent */
void setIMarkerCallback(IMarkerCallback callback);
/** \brief Get a pointer to the current robot state */
moveit::core::RobotStateConstPtr getRobotState()
{
return imarker_state_;
}
moveit::core::RobotStatePtr getRobotStateNonConst()
{
return imarker_state_;
}
/** \brief Set the robot state */
void setRobotState(moveit::core::RobotStatePtr state);
/** \brief Set the robot state to current in planning scene monitor */
void setToCurrentState();
/**
* \brief Set the robot to a random position
* \param clearance - optional value to ensure random state is not too close to obstacles. 0 is disable
* \return true on success
*/
bool setToRandomState(double clearance = 0);
/** \brief Return true if the currently solved IK solution is valid */
bool isStateValid(bool verbose = false);
/** \brief Show current state in Rviz */
void publishRobotState();
moveit_visual_tools::MoveItVisualToolsPtr getVisualTools();
bool getFilePath(std::string& file_path, const std::string& file_name, const std::string& subdirectory) const;
IMarkerEndEffectorPtr getEEF(const std::string& name)
{
return name_to_eef_[name];
}
bool setFromPoses(const EigenSTL::vector_Affine3d poses, const moveit::core::JointModelGroup* group);
protected:
// --------------------------------------------------------
// The short name of this class
std::string name_;
// A shared node handle
ros::NodeHandle nh_;
// State
moveit::core::RobotStatePtr imarker_state_;
// End effectors
std::vector<ArmData> arm_datas_;
std::vector<IMarkerEndEffectorPtr> end_effectors_;
std::map<std::string, IMarkerEndEffectorPtr> name_to_eef_;
// Core MoveIt components
planning_scene_monitor::PlanningSceneMonitorPtr psm_;
// Visual tools
moveit_visual_tools::MoveItVisualToolsPtr visual_tools_;
// Settings
std::size_t refresh_rate_ = 30;
rviz_visual_tools::colors color_ = rviz_visual_tools::PURPLE;
// Interactive markers
InteractiveMarkerServerPtr imarker_server_;
// File saving
std::string file_path_;
std::ofstream output_file_;
std::string package_path_; // File location of this package
}; // end class
// Create std pointers for this class
typedef std::shared_ptr<IMarkerRobotState> IMarkerRobotStatePtr;
typedef std::shared_ptr<const IMarkerRobotState> IMarkerRobotStateConstPtr;
} // namespace moveit_visual_tools
namespace
{
/** \brief Collision checking handle for IK solvers */
bool isIKStateValid(const planning_scene::PlanningScene* planning_scene, bool verbose, bool only_check_self_collision,
moveit_visual_tools::MoveItVisualToolsPtr visual_tools_, robot_state::RobotState* state,
const robot_state::JointModelGroup* group, const double* ik_solution);
}
#endif // MOVEIT_VISUAL_TOOLS_IMARKER_ROBOT_STATE_H