C++ PlanningSceneConstPtr::getPlanningFrame方法代码示例

  void displayPlannerData(const planning_scene::PlanningSceneConstPtr& planning_scene,
                          const std::string &link_name) const
  {
std::cout << "displayPlannerData called ... " << std::endl;
    const ompl_interface::ModelBasedPlanningContextPtr &pc = ompl_interface_->getLastPlanningContext();
    if (pc)
    {
      ompl::base::PlannerData pd(pc->getOMPLSimpleSetup().getSpaceInformation());
      pc->getOMPLSimpleSetup().getPlannerData(pd);
      robot_state::RobotState kstate = planning_scene->getCurrentState();  
      visualization_msgs::MarkerArray arr; 
      std_msgs::ColorRGBA color;
      color.r = 1.0f;
      color.g = 0.25f;
      color.b = 1.0f;
      color.a = 1.0f;
      unsigned int nv = pd.numVertices();
      for (unsigned int i = 0 ; i < nv ; ++i)
      {
        pc->getOMPLStateSpace()->copyToRobotState(kstate, pd.getVertex(i).getState());
        kstate.getJointStateGroup(pc->getJointModelGroupName())->updateLinkTransforms();
        const Eigen::Vector3d &pos = kstate.getLinkState(link_name)->getGlobalLinkTransform().translation();
	
        visualization_msgs::Marker mk;
        mk.header.stamp = ros::Time::now();
        mk.header.frame_id = planning_scene->getPlanningFrame();
        mk.ns = "planner_data";
        mk.id = i;
        mk.type = visualization_msgs::Marker::SPHERE;
        mk.action = visualization_msgs::Marker::ADD;
        mk.pose.position.x = pos.x();
        mk.pose.position.y = pos.y();
        mk.pose.position.z = pos.z();
        mk.pose.orientation.w = 1.0;
        mk.scale.x = mk.scale.y = mk.scale.z = 0.025;
        mk.color = color;
        mk.lifetime = ros::Duration(30.0);
        arr.markers.push_back(mk);
      }
      pub_markers_.publish(arr); 
    }
  }

bool ConvexConstraintSolver::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                   const moveit_msgs::GetMotionPlan::Request &req,
                   moveit_msgs::GetMotionPlan::Response &res) const
{
  // Need to add in joint limit constraints
  // Get the position constraints from the collision detector

  // The raw algorithm laid out in Chan et. al. is as follows:
  //  1. Compute unconstrained motion to go from proxy to goal.
  //  2. Get the current contact set by moving the proxy toward the goal by some epsilon and get all collision points.
  //  3. Compute constrained motion (convex solver).
  //  4. Compute collisions along the constrained motion path.
  //  5. Set proxy to stop at the first new contact along path.


  // In our framework this will look more like this:
  // Outside ths planner:
  //  1. Compute error between cartesian end effector and cartesian goal.
  //  2. Cap pose error (based on some heuristic?) because we are about to make a linear approximation.
  //  3. Use Jinverse to compute the joint deltas for the pose error (or perhaps we should frame this as a velocity problem).
  //  4. Add the joint deltas to the start state to get a goal state.

  // Inside the planner:
  //  1. Get the "current" contact set by moving the proxy toward the goal by some epsilon and get all collision points.
  //  2. Compute constrained motion (convex solver).
  //  3. Subdivide motion subject to some sort of minimum feature size.
  //  4. Move proxy in steps, checking for colliding state along the way. Optionally use interval bisection to refine.

  // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -/

  std::string group_name = req.motion_plan_request.group_name;
  std::string ee_group_name;
  std::string ee_control_frame;
  if(group_name == "right_arm"){ ee_group_name = "r_end_effector"; ee_control_frame = "r_wrist_roll_link"; }
  if(group_name == "left_arm") { ee_group_name = "l_end_effector"; ee_control_frame = "l_wrist_roll_link"; }


  ROS_WARN("Solving for group [%s], end-effector [%s], control frame [%s] using ConvexConstraintSolver!", group_name.c_str(), ee_group_name.c_str(), ee_control_frame.c_str());



  // We "getCurrentState" just to populate the structure with auxiliary info, then copy in the transform info from the planning request.
  planning_models::KinematicState start_state = planning_scene->getCurrentState();
  planning_models::robotStateToKinematicState(*(planning_scene->getTransforms()), req.motion_plan_request.start_state, start_state);

  // constrained_goal_state is the optimization output before interval stepping, proxy_state will be used as we step around.
  planning_models::KinematicState proxy_state = start_state;
  planning_models::KinematicState constrained_goal_state = start_state;

  std::string planning_frame = ros::names::resolve("/", planning_scene->getPlanningFrame());


    const planning_models::KinematicState::JointStateGroup * jsg = proxy_state.getJointStateGroup(group_name);
    const planning_models::KinematicModel::JointModelGroup * jmg = planning_scene->getKinematicModel()->getJointModelGroup(group_name);
//    std::string end_effector_group_name = jmg->getAttachedEndEffectorGroupName();
//    const std::vector<std::string>& subgroups = jmg->getSubgroupNames();

//    ROS_INFO("End-effector group name is [%s].", end_effector_group_name.c_str());
//    for(size_t i = 0; i< subgroups.size(); i++)
//      ROS_INFO("Subgroup [%zd] is [%s].", i, subgroups[i].c_str());
    const planning_models::KinematicModel::JointModelGroup * ee_jmg = planning_scene->getKinematicModel()->getJointModelGroup(ee_group_name);


//    const std::vector<const planning_models::KinematicModel::JointModel*>& joint_models = jmg->getJointModels();
//    std::map<std::string, unsigned int> joint_index_map;
//    for(size_t i = 0; i < joint_models.size(); i++)
//    {
//      //ROS_INFO("Group [%s] has joint %d: [%s]", req.motion_plan_request.group_name.c_str(), i, joint_models[i]->getName().c_str());
//      joint_index_map[joint_models[i]->getName()] = i;
//    }

    const std::map<std::string, unsigned int>& joint_index_map = jmg->getJointVariablesIndexMap();

    std::vector<double> limits_min, limits_max, joint_vector;
    std::vector<std::string> joint_names;

    limits_min.resize(7);
    limits_max.resize(7);
    joint_vector.resize(7);
    joint_names.resize(7);


    {
      const moveit_msgs::Constraints &c = req.motion_plan_request.goal_constraints[1];
      for (std::size_t i = 0 ; i < c.joint_constraints.size() ; ++i)
      {
        std::string joint_name = c.joint_constraints[i].joint_name;
        if(joint_index_map.find(joint_name) == joint_index_map.end())
        {
          ROS_WARN("Didin't find [%s] in the joint map, ignoring...", joint_name.c_str());
          continue;
        }
        unsigned int joint_index = joint_index_map.find(joint_name)->second;

        std::vector<moveit_msgs::JointLimits> limits = planning_scene->getKinematicModel()->getJointModel(joint_name)->getLimits();
        moveit_msgs::JointLimits limit = limits[0];
        if(limit.has_position_limits)
        {
          limits_min[joint_index] = limit.min_position;
          limits_max[joint_index] = limit.max_position;
//.........这里部分代码省略.........