cp_trajectory_history.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 <smacc2/component.hpp>
 
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
 
namespace cl_moveit2z
{
struct TrajectoryHistoryEntry
{
  moveit_msgs::msg::RobotTrajectory trajectory;
  moveit_msgs::msg::MoveItErrorCodes result;
  std::string name;
};
 
class CpTrajectoryHistory : public smacc2::ISmaccComponent
{
public:
  inline bool getLastTrajectory(int backIndex, moveit_msgs::msg::RobotTrajectory & trajectory)
  {
    if (trajectoryHistory_.size() == 0)
    {
      RCLCPP_WARN_STREAM(
        getLogger(), "[" << getName() << "] requested index: " << backIndex
                         << ", history size: " << trajectoryHistory_.size());
      return false;
    }
 
    if (backIndex < 0)
    {
      backIndex = 0;
    }
    else if ((size_t)backIndex >= this->trajectoryHistory_.size())
    {
      RCLCPP_WARN_STREAM(
        getLogger(), "[" << getName() << "] requested index: " << backIndex
                         << ", history size: " << trajectoryHistory_.size());
      return false;
    }
 
    trajectory =
      this->trajectoryHistory_[this->trajectoryHistory_.size() - 1 - backIndex].trajectory;
    return true;
  }
 
  inline bool getLastTrajectory(moveit_msgs::msg::RobotTrajectory & trajectory)
  {
    return getLastTrajectory(-1, trajectory);
  }
 
  inline void pushTrajectory(
    std::string name, const moveit_msgs::msg::RobotTrajectory & trajectory,
    moveit_msgs::msg::MoveItErrorCodes result)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] adding a new trajectory to the history ( "
                       << trajectory.joint_trajectory.points.size() << " poses)");
 
    TrajectoryHistoryEntry entry;
    this->trajectoryHistory_.push_back(entry);
 
    auto & last = this->trajectoryHistory_.back();
    last.trajectory = trajectory;
    last.result = result;
    last.name = name;
  }
 
private:
  std::vector<TrajectoryHistoryEntry> trajectoryHistory_;
};
}  // namespace cl_moveit2z