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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, PickNik Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| /* Author: Sebastian Jahr | ||
| */ | ||
|
|
||
| #include <moveit/drake/conversions.hpp> | ||
| namespace moveit::drake | ||
| { | ||
| using ::drake::geometry::SceneGraph; | ||
| using ::drake::multibody::AddMultibodyPlantSceneGraph; | ||
| using ::drake::multibody::MultibodyPlant; | ||
| using ::drake::multibody::Parser; | ||
| using ::drake::systems::DiagramBuilder; | ||
|
|
||
| [[nodiscard]] ::drake::trajectories::PiecewisePolynomial<double> | ||
| getPiecewisePolynomial(const ::robot_trajectory::RobotTrajectory& robot_trajectory, | ||
| const moveit::core::JointModelGroup* group) | ||
| { | ||
| std::vector<double> breaks; | ||
| breaks.reserve(robot_trajectory.getWayPointCount()); | ||
| std::vector<Eigen::MatrixXd> samples; | ||
| samples.reserve(robot_trajectory.getWayPointCount()); | ||
|
|
||
| // Create samples & breaks | ||
| for (std::size_t i = 0; i < robot_trajectory.getWayPointCount(); ++i) | ||
| { | ||
| const auto& state = robot_trajectory.getWayPoint(i); | ||
| Eigen::VectorXd position(state.getVariableCount()); | ||
| state.copyJointGroupPositions(group, position); | ||
| samples.emplace_back(position); | ||
| breaks.emplace_back(robot_trajectory.getWayPointDurationFromStart(i)); | ||
| } | ||
|
|
||
| // Create a piecewise polynomial trajectory | ||
| return ::drake::trajectories::PiecewisePolynomial<double>::FirstOrderHold(breaks, samples); | ||
| } | ||
|
|
||
| void getRobotTrajectory(const ::drake::trajectories::Trajectory<double>& drake_trajectory, const double delta_t, | ||
| std::shared_ptr<::robot_trajectory::RobotTrajectory>& moveit_trajectory) | ||
| { | ||
| // Reset output trajectory | ||
| moveit_trajectory->clear(); | ||
|
|
||
| // Get the start and end times of the piecewise polynomial | ||
| double t_prev = 0.0; | ||
| const auto num_pts = static_cast<size_t>(std::ceil(drake_trajectory.end_time() / delta_t) + 1); | ||
|
|
||
| for (unsigned int i = 0; i < num_pts; ++i) | ||
| { | ||
| const auto t_scale = static_cast<double>(i) / static_cast<double>(num_pts - 1); | ||
| const auto t = std::min(t_scale, 1.0) * drake_trajectory.end_time(); | ||
| const auto pos_val = drake_trajectory.value(t); | ||
| const auto vel_val = drake_trajectory.EvalDerivative(t); | ||
| const auto waypoint = std::make_shared<moveit::core::RobotState>(moveit_trajectory->getRobotModel()); | ||
| const auto active_joints = moveit_trajectory->getGroup()->getActiveJointModels(); | ||
| for (size_t joint_index = 0; joint_index < active_joints.size(); joint_index++) | ||
| { | ||
| waypoint->setJointPositions(active_joints[joint_index], &pos_val(joint_index)); | ||
| waypoint->setJointVelocities(active_joints[joint_index], &vel_val(joint_index)); | ||
| } | ||
|
|
||
| moveit_trajectory->addSuffixWayPoint(waypoint, t - t_prev); | ||
| t_prev = t; | ||
| } | ||
| } | ||
|
|
||
| [[nodiscard]] Eigen::VectorXd getJointPositionVector(const moveit::core::RobotState& moveit_state, | ||
| const std::string& group_name, const MultibodyPlant<double>& plant) | ||
| { | ||
| Eigen::VectorXd joint_positions = Eigen::VectorXd::Zero(plant.num_positions()); | ||
|
|
||
| const auto& joint_model_group = moveit_state.getRobotModel()->getJointModelGroup(group_name); | ||
| for (const auto& joint_model : joint_model_group->getActiveJointModels()) | ||
| { | ||
| const auto& joint_name = joint_model->getName(); | ||
| const auto& joint_index = plant.GetJointByName(joint_name).ordinal(); | ||
| joint_positions(joint_index) = moveit_state.getVariablePosition(joint_name); | ||
| } | ||
| return joint_positions; | ||
| } | ||
|
|
||
| [[nodiscard]] Eigen::VectorXd getJointVelocityVector(const moveit::core::RobotState& moveit_state, | ||
| const std::string& group_name, const MultibodyPlant<double>& plant) | ||
| { | ||
| Eigen::VectorXd joint_velocities = Eigen::VectorXd::Zero(plant.num_velocities()); | ||
| const auto& joint_model_group = moveit_state.getRobotModel()->getJointModelGroup(group_name); | ||
| for (const auto& joint_model : joint_model_group->getActiveJointModels()) | ||
| { | ||
| const auto& joint_name = joint_model->getName(); | ||
| const auto& joint_index = plant.GetJointByName(joint_name).ordinal(); | ||
| joint_velocities(joint_index) = moveit_state.getVariableVelocity(joint_name); | ||
| } | ||
| return joint_velocities; | ||
| } | ||
| } // namespace moveit::drake |
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