cl_move_group_interface::CbCircularPivotMotion Class Reference

#include <cb_circular_pivot_motion.h>

Inheritance diagram for cl_move_group_interface::CbCircularPivotMotion:

Collaboration diagram for cl_move_group_interface::CbCircularPivotMotion:

Public Member Functions
	CbCircularPivotMotion (std::string tipLink="")
	CbCircularPivotMotion (const geometry_msgs::PoseStamped &planePivotPose, double deltaRadians, std::string tipLink="")
	CbCircularPivotMotion (const geometry_msgs::PoseStamped &planePivotPose, const geometry_msgs::Pose &relativeInitialPose, double deltaRadians, std::string tipLink="")
virtual void	generateTrajectory () override
virtual void	createMarkers () override
Public Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
	CbMoveEndEffectorTrajectory (std::string tipLink="")
	CbMoveEndEffectorTrajectory (const std::vector< geometry_msgs::PoseStamped > &endEffectorTrajectory, std::string tipLink="")
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual void	onEntry () override
virtual void	onExit () override
virtual void	update () override
Public Member Functions inherited from smacc::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)
ros::NodeHandle	getNode ()
Public Member Functions inherited from smacc::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (ros::Duration duration)
void	executeUpdate ()
void	setUpdatePeriod (ros::Duration duration)

Public Attributes
boost::optional< double >	angularSpeed_rad_s_
boost::optional< double >	linearSpeed_m_s_
boost::optional< geometry_msgs::Pose >	relativeInitialPose_
Public Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
boost::optional< std::string >	group_
boost::optional< std::string >	tipLink_
boost::optional< bool >	allowInitialTrajectoryStateJointDiscontinuity_

Protected Attributes
geometry_msgs::PoseStamped	planePivotPose_
double	deltaRadians_
Protected Attributes inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
std::vector< geometry_msgs::PoseStamped >	endEffectorTrajectory_
ClMoveGroup *	movegroupClient_ = nullptr
visualization_msgs::MarkerArray	beahiorMarkers_

Private Member Functions
void	computeCurrentEndEffectorPoseRelativeToPivot ()

Additional Inherited Members
Protected Member Functions inherited from cl_move_group_interface::CbMoveEndEffectorTrajectory
ComputeJointTrajectoryErrorCode	computeJointSpaceTrajectory (moveit_msgs::RobotTrajectory &computedJointTrajectory)
void	executeJointSpaceTrajectory (const moveit_msgs::RobotTrajectory &computedJointTrajectory)
virtual void	generateTrajectory ()
virtual void	createMarkers ()
void	getCurrentEndEffectorPose (std::string globalFrame, tf::StampedTransform &currentEndEffectorTransform)
Protected Member Functions inherited from smacc::SmaccAsyncClientBehavior
virtual void	executeOnEntry () override
virtual void	executeOnExit () override
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
Protected Member Functions inherited from smacc::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	executeOnEntry ()
virtual void	executeOnExit ()
virtual void	dispose ()
virtual void	update ()=0

Detailed Description

Definition at line 14 of file cb_circular_pivot_motion.h.

Constructor & Destructor Documentation

CbCircularPivotMotion() [1/3]

cl_move_group_interface::CbCircularPivotMotion::CbCircularPivotMotion

(

std::string

tipLink = ""

)

Definition at line 11 of file cb_circular_pivot_motion.cpp.

        : CbMoveEndEffectorTrajectory(tipLink)
    {
    }

CbCircularPivotMotion() [2/3]

cl_move_group_interface::CbCircularPivotMotion::CbCircularPivotMotion	(	const geometry_msgs::PoseStamped &	planePivotPose,
		double	deltaRadians,
		std::string	tipLink = ""
	)

Definition at line 16 of file cb_circular_pivot_motion.cpp.

        : planePivotPose_(planePivotPose), deltaRadians_(deltaRadians), CbMoveEndEffectorTrajectory(tipLink)
    {
    }

CbCircularPivotMotion() [3/3]

cl_move_group_interface::CbCircularPivotMotion::CbCircularPivotMotion	(	const geometry_msgs::PoseStamped &	planePivotPose,
		const geometry_msgs::Pose &	relativeInitialPose,
		double	deltaRadians,
		std::string	tipLink = ""
	)

Definition at line 21 of file cb_circular_pivot_motion.cpp.

        : planePivotPose_(planePivotPose), relativeInitialPose_(relativeInitialPose), deltaRadians_(deltaRadians), CbMoveEndEffectorTrajectory(tipLink)
    {
    }

Member Function Documentation

computeCurrentEndEffectorPoseRelativeToPivot()

void cl_move_group_interface::CbCircularPivotMotion::computeCurrentEndEffectorPoseRelativeToPivot ( )

private

Definition at line 121 of file cb_circular_pivot_motion.cpp.

    {
        //auto currentRobotEndEffectorPose = this->movegroupClient_->moveGroupClientInterface.getCurrentPose();
 
        tf::TransformListener tfListener;
        // tf::StampedTransform globalBaseLink;
        tf::StampedTransform endEffectorInPivotFrame;
 
        try
        {
            if (!tipLink_ || *tipLink_ == "")
            {
                tipLink_ = this->movegroupClient_->moveGroupClientInterface.getEndEffectorLink();
            }
 
            tfListener.waitForTransform(planePivotPose_.header.frame_id, *tipLink_, ros::Time(0), ros::Duration(10));
            tfListener.lookupTransform(planePivotPose_.header.frame_id, *tipLink_, ros::Time(0), endEffectorInPivotFrame);
 
            // we define here the global frame as the pivot frame id
            // tfListener.waitForTransform(currentRobotEndEffectorPose.header.frame_id, planePivotPose_.header.frame_id, ros::Time(0), ros::Duration(10));
            // tfListener.lookupTransform(currentRobotEndEffectorPose.header.frame_id, planePivotPose_.header.frame_id, ros::Time(0), globalBaseLink);
        }
        catch (const std::exception &e)
        {
            std::cerr << e.what() << '\n';
        }
 
        // tf::Transform endEffectorInBaseLinkFrame;
        // tf::poseMsgToTF(currentRobotEndEffectorPose.pose, endEffectorInBaseLinkFrame);
 
        // tf::Transform endEffectorInPivotFrame = globalBaseLink * endEffectorInBaseLinkFrame; // pose composition
 
        // now pivot and EndEffector share a common reference frame (let say map)
        // now get the current pose from the pivot reference frame with inverse composition
        tf::Transform pivotTransform;
        tf::poseMsgToTF(planePivotPose_.pose, pivotTransform);
        tf::Transform invertedNewReferenceFrame = pivotTransform.inverse();
 
        tf::Transform currentPoseRelativeToPivot = invertedNewReferenceFrame * endEffectorInPivotFrame;
 
        geometry_msgs::Pose finalEndEffectorRelativePose;
        tf::poseTFToMsg(currentPoseRelativeToPivot, finalEndEffectorRelativePose);
        relativeInitialPose_ = finalEndEffectorRelativePose;
    }

References cl_move_group_interface::CbMoveEndEffectorTrajectory::movegroupClient_, cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, planePivotPose_, relativeInitialPose_, and cl_move_group_interface::CbMoveEndEffectorTrajectory::tipLink_.

Referenced by generateTrajectory().

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createMarkers()

void cl_move_group_interface::CbCircularPivotMotion::createMarkers ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 166 of file cb_circular_pivot_motion.cpp.

    {
        CbMoveEndEffectorTrajectory::createMarkers();
 
        tf::Transform localdirection;
        localdirection.setIdentity();
        localdirection.setOrigin(tf::Vector3(0.12, 0, 0));
        auto frameid = planePivotPose_.header.frame_id;
 
        visualization_msgs::Marker marker;
        marker.header.frame_id = frameid;
        marker.header.stamp = ros::Time::now();
        marker.ns = "trajectory";
        marker.id = beahiorMarkers_.markers.size();
        marker.type = visualization_msgs::Marker::ARROW;
        marker.action = visualization_msgs::Marker::ADD;
        marker.scale.x = 0.01;
        marker.scale.y = 0.02;
        marker.scale.z = 0.02;
        marker.color.a = 1.0;
        marker.color.r = 0.0;
        marker.color.g = 0;
        marker.color.b = 1.0;
 
        geometry_msgs::Point start, end;
        start.x = planePivotPose_.pose.position.x;
        start.y = planePivotPose_.pose.position.y;
        start.z = planePivotPose_.pose.position.z;
 
        tf::Transform basetransform;
        tf::poseMsgToTF(planePivotPose_.pose, basetransform);
        tf::Transform endarrow = localdirection * basetransform;
 
        end.x = endarrow.getOrigin().x();
        end.y = endarrow.getOrigin().y();
        end.z = endarrow.getOrigin().z();
 
        marker.pose.orientation.w = 1;
        marker.points.push_back(start);
        marker.points.push_back(end);
 
        beahiorMarkers_.markers.push_back(marker);
    }

References cl_move_group_interface::CbMoveEndEffectorTrajectory::beahiorMarkers_, cl_move_group_interface::CbMoveEndEffectorTrajectory::createMarkers(), and planePivotPose_.

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generateTrajectory()

void cl_move_group_interface::CbCircularPivotMotion::generateTrajectory ( )

overridevirtual

Reimplemented from cl_move_group_interface::CbMoveEndEffectorTrajectory.

Definition at line 26 of file cb_circular_pivot_motion.cpp.

    {
        if (!relativeInitialPose_)
        {
            this->computeCurrentEndEffectorPoseRelativeToPivot();
        }
 
        // project offset into the xy-plane
        // get the radius
        double radius = sqrt(relativeInitialPose_->position.z * relativeInitialPose_->position.z + relativeInitialPose_->position.y * relativeInitialPose_->position.y);
        double initialAngle = atan2(relativeInitialPose_->position.z, relativeInitialPose_->position.y);
 
        double totallineardist = fabs(radius * deltaRadians_);
        double totalangulardist = fabs(deltaRadians_);
 
        // at least 1 sample per centimeter (average)
        // at least 1 sample per ~1.1 degrees (average)
 
        const double RADS_PER_SAMPLE = 0.02;
        const double METERS_PER_SAMPLE = 0.01;
 
        int totalSamplesCount = std::max(totallineardist / METERS_PER_SAMPLE, totalangulardist / RADS_PER_SAMPLE);
 
        double linearSecondsPerSample;
        double angularSecondsPerSamples;
        double secondsPerSample;
 
        if (linearSpeed_m_s_)
        {
            linearSecondsPerSample = METERS_PER_SAMPLE / (*linearSpeed_m_s_);
        }
        else
        {
            linearSecondsPerSample = std::numeric_limits<double>::max();
        }
 
        if (angularSpeed_rad_s_)
        {
            angularSecondsPerSamples = RADS_PER_SAMPLE / (*angularSpeed_rad_s_);
        }
        else
        {
            angularSecondsPerSamples = std::numeric_limits<double>::max();
        }
 
        if (!linearSpeed_m_s_ && !angularSpeed_rad_s_)
        {
            secondsPerSample = 0.5;
        }
        else
        {
            secondsPerSample = std::min(linearSecondsPerSample, angularSecondsPerSamples);
        }
 
        double currentAngle = initialAngle;
 
        double angleStep = deltaRadians_ / (double)totalSamplesCount;
 
        tf::Transform tfBasePose;
        tf::poseMsgToTF(planePivotPose_.pose, tfBasePose);
 
        for (int i = 0; i < totalSamplesCount; i++)
        {
            // relativePose i
            currentAngle += angleStep;
            double y = radius * cos(currentAngle);
            double z = radius * sin(currentAngle);
 
            geometry_msgs::Pose relativeCurrentPose;
 
            relativeCurrentPose.position.x = relativeInitialPose_->position.x;
            relativeCurrentPose.position.y = y;
            relativeCurrentPose.position.z = z;
 
            auto localquat = tf::createQuaternionFromRPY(currentAngle, 0, 0);
            //relativeCurrentPose.orientation = relativeInitialPose_.orientation;
            //tf::quaternionTFToMsg(localquat, relativeCurrentPose.orientation);
            relativeCurrentPose.orientation.w = 1;
 
            tf::Transform tfRelativeCurrentPose;
            tf::poseMsgToTF(relativeCurrentPose, tfRelativeCurrentPose);
 
            tf::Transform tfGlobalPose = tfRelativeCurrentPose * tfBasePose;
 
            tfGlobalPose.setRotation(tfGlobalPose.getRotation() * localquat);
 
            geometry_msgs::PoseStamped globalPose;
            tf::poseTFToMsg(tfGlobalPose, globalPose.pose);
            globalPose.header.frame_id = planePivotPose_.header.frame_id;
            globalPose.header.stamp = planePivotPose_.header.stamp + ros::Duration(i * secondsPerSample);
 
            this->endEffectorTrajectory_.push_back(globalPose);
        }
    }

References angularSpeed_rad_s_, computeCurrentEndEffectorPoseRelativeToPivot(), deltaRadians_, cl_move_group_interface::CbMoveEndEffectorTrajectory::endEffectorTrajectory_, linearSpeed_m_s_, planePivotPose_, and relativeInitialPose_.

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Member Data Documentation

angularSpeed_rad_s_

boost::optional<double> cl_move_group_interface::CbCircularPivotMotion::angularSpeed_rad_s_

Definition at line 17 of file cb_circular_pivot_motion.h.

Referenced by generateTrajectory().

deltaRadians_

double cl_move_group_interface::CbCircularPivotMotion::deltaRadians_

protected

Definition at line 36 of file cb_circular_pivot_motion.h.

Referenced by cl_move_group_interface::CbEndEffectorRotate::CbEndEffectorRotate(), and generateTrajectory().

linearSpeed_m_s_

boost::optional<double> cl_move_group_interface::CbCircularPivotMotion::linearSpeed_m_s_

Definition at line 18 of file cb_circular_pivot_motion.h.

Referenced by generateTrajectory().

planePivotPose_

geometry_msgs::PoseStamped cl_move_group_interface::CbCircularPivotMotion::planePivotPose_

protected

Definition at line 34 of file cb_circular_pivot_motion.h.

Referenced by computeCurrentEndEffectorPoseRelativeToPivot(), createMarkers(), generateTrajectory(), and cl_move_group_interface::CbEndEffectorRotate::onEntry().

relativeInitialPose_

boost::optional<geometry_msgs::Pose> cl_move_group_interface::CbCircularPivotMotion::relativeInitialPose_

Definition at line 21 of file cb_circular_pivot_motion.h.

Referenced by computeCurrentEndEffectorPoseRelativeToPivot(), and generateTrajectory().

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The documentation for this class was generated from the following files:

• smacc_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_circular_pivot_motion.h
• smacc_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_circular_pivot_motion.cpp