cb_move_cartesian_relative2.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/
 
#pragma once
 
#include <tf2/transform_datatypes.h>
#include <cl_moveit2z/cl_moveit2z.hpp>
#include <cl_moveit2z/common.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include "cb_move_end_effector_trajectory.hpp"
 
using namespace std::chrono_literals;
 
namespace cl_moveit2z
{
class CbMoveCartesianRelative2 : public CbMoveEndEffectorTrajectory
{
public:
  geometry_msgs::msg::Vector3 offset_;
 
  std::optional<double> linearSpeed_m_s_;
 
  CbMoveCartesianRelative2(std::string referenceFrame, std::string tipLink)
  : CbMoveEndEffectorTrajectory(tipLink)
  {
    globalFrame_ = referenceFrame;
  }
 
  CbMoveCartesianRelative2(
    std::string referenceFrame, std::string tipLink, geometry_msgs::msg::Vector3 offset)
  : CbMoveEndEffectorTrajectory(tipLink)
  {
    globalFrame_ = referenceFrame;
    offset_ = offset;
  }
 
  virtual ~CbMoveCartesianRelative2() {}
 
  void generateTrajectory() override
  {
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] generating trajectory");
    // at least 1 sample per centimeter (average)
    const double METERS_PER_SAMPLE = 0.001;
 
    float dist_meters = 0;
    tf2::Vector3 voffset;
    tf2::fromMsg(offset_, voffset);
 
    float totallineardist = voffset.length();
 
    int totalSamplesCount = totallineardist / METERS_PER_SAMPLE;
    int steps = totallineardist / METERS_PER_SAMPLE;
 
    float interpolation_factor_step = 1.0 / totalSamplesCount;
 
    double secondsPerSample;
 
    if (!linearSpeed_m_s_)
    {
      linearSpeed_m_s_ = 0.1;
    }
 
    secondsPerSample = METERS_PER_SAMPLE / (*linearSpeed_m_s_);
 
    tf2::Stamped<tf2::Transform> currentEndEffectorTransform;
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] getting current end effector pose");
    this->getCurrentEndEffectorPose(globalFrame_, currentEndEffectorTransform);
 
    tf2::Transform finalEndEffectorTransform = currentEndEffectorTransform;
    finalEndEffectorTransform.setOrigin(finalEndEffectorTransform.getOrigin() + voffset);
 
    float linc = totallineardist / steps;  // METERS_PER_SAMPLE with sign
    float interpolation_factor = 0;
 
    rclcpp::Time startTime = getNode()->now();
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] trajectory steps: " << steps);
 
    for (float i = 0; i < steps; i++)
    {
      interpolation_factor += interpolation_factor_step;
      dist_meters += linc;
 
      tf2::Vector3 vi = currentEndEffectorTransform.getOrigin().lerp(
        finalEndEffectorTransform.getOrigin(), interpolation_factor);
 
      tf2::Transform pose;
      pose.setOrigin(vi);
      pose.setRotation(currentEndEffectorTransform.getRotation());
 
      geometry_msgs::msg::PoseStamped pointerPose;
      tf2::toMsg(pose, pointerPose.pose);
      pointerPose.header.frame_id = globalFrame_;
      pointerPose.header.stamp = startTime + rclcpp::Duration::from_seconds(i * secondsPerSample);
 
      this->endEffectorTrajectory_.push_back(pointerPose);
    }
 
    RCLCPP_INFO_STREAM(
      getLogger(),
      "[" << getName() << "] Target End efector Pose: " << this->endEffectorTrajectory_.back());
  }
 
private:
  std::string globalFrame_;
};
}  // namespace cl_moveit2z