add_ruckig_traj_smoothing.cpp

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/* Author: Jack Center, Wyatt Rees, Andy Zelenak
 * Desc:  An adapter that uses ruckig (https://github.com/pantor/ruckig) to adapt the trajectory to be jerk-constrained and
 * time-optimal. It is necessary to run another trajectory generation algorithm before this adapter, because the
 * algorithm requires a fully configured trajectory as initial guess.
 */

#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <moveit/trajectory_processing/ruckig_traj_smoothing.h>
#include <class_loader/class_loader.hpp>

namespace default_planner_request_adapters
{
using namespace trajectory_processing;

static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.add_traj_smoothing");

/** @brief Use ruckig (https://github.com/pantor/ruckig) to adapt the trajectory to be jerk-constrained and
 * time-optimal.*/
class AddRuckigTrajectorySmoothing : public planning_request_adapter::PlanningRequestAdapter
{
public:
  void initialize(const rclcpp::Node::SharedPtr& /* unused */, const std::string& /* unused */) override
  {
  }

  std::string getDescription() const override
  {
    return "Add Ruckig trajectory smoothing.";
  }

  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
                    std::vector<std::size_t>& /*added_path_index*/) const override
  {
    bool result = planner(planning_scene, req, res);
    if (result && res.trajectory)
    {
      if (!smoother_.applySmoothing(*res.trajectory, req.max_velocity_scaling_factor,
                                    req.max_acceleration_scaling_factor))
      {
        result = false;
      }
    }

    return result;
  }

private:
  RuckigSmoothing smoother_;
};

}  // namespace default_planner_request_adapters

CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::AddRuckigTrajectorySmoothing,
                            planning_request_adapter::PlanningRequestAdapter)