bool ArmMotionInterface::rt_arm_plan_path_current_to_goal_dp_xyz() {
Eigen::Vector3d dp_vec;
ROS_INFO("called rt_arm_plan_path_current_to_goal_dp_xyz");
//unpack the goal pose:
int ndim = cart_goal_.arm_dp_right.size();
if (ndim!=3) {
ROS_WARN("requested displacement, arm_dp_right, is wrong dimension");
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID;
path_is_valid_=false;
return path_is_valid_;
}
for (int i=0;i<3;i++) dp_vec[i] = cart_goal_.arm_dp_right[i];
ROS_INFO("requested dp = %f, %f, %f",dp_vec[0],dp_vec[1],dp_vec[2]);
Vectorq7x1 q_start;
q_start = get_jspace_start_right_arm_(); // choose last cmd, or current joint angles
path_is_valid_= plan_cartesian_delta_p(q_start, dp_vec);
if (path_is_valid_) {
baxter_traj_streamer_.stuff_trajectory(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::SUCCESS;
cart_result_.computed_arrival_time = computed_arrival_time_;
cart_move_as_.setSucceeded(cart_result_);
}
else {
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID;
cart_result_.computed_arrival_time = -1.0; //impossible arrival time
cart_move_as_.setSucceeded(cart_result_); //the communication was a success, but not the computation
}
return path_is_valid_;
}
//this is a pretty general function:
// goal contains a desired tool pose;
// path is planned from current joint state to some joint state that achieves desired tool pose
bool ArmMotionInterface::rt_arm_plan_path_current_to_goal_pose() {
ROS_INFO("computing a cartesian trajectory to right-arm tool goal pose");
//unpack the goal pose:
goal_gripper_pose_right_ = cart_goal_.des_pose_gripper_right;
goal_gripper_affine_right_= transformPoseToEigenAffine3d(goal_gripper_pose_right_.pose);
ROS_INFO("tool frame goal: ");
display_affine(goal_gripper_affine_right_);
goal_flange_affine_right_ = goal_gripper_affine_right_ * A_tool_wrt_flange_.inverse();
ROS_INFO("flange goal");
display_affine(goal_flange_affine_right_);
Vectorq7x1 q_start;
q_start = get_jspace_start_right_arm_(); // choose last cmd, or current joint angles
path_is_valid_ = cartTrajPlanner_.cartesian_path_planner(q_start, goal_flange_affine_right_, optimal_path_);
if (path_is_valid_) {
baxter_traj_streamer_.stuff_trajectory(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::SUCCESS;
cart_result_.computed_arrival_time = computed_arrival_time_;
cart_move_as_.setSucceeded(cart_result_);
}
else {
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID;
cart_result_.computed_arrival_time = -1.0; //impossible arrival time
cart_move_as_.setSucceeded(cart_result_); //the communication was a success, but not the computation
}
return path_is_valid_;
}
/*
bool ArmMotionInterface::plan_path_current_to_goal_flange_pose() {
ROS_INFO("computing a joint-space trajectory to right-arm flange goal pose");
//unpack the goal pose:
goal_flange_affine_ = xformUtils.transformPoseToEigenAffine3d(cart_goal_.des_pose_flange.pose);
ROS_INFO("flange goal");
display_affine(goal_flange_affine_);
Vectorq7x1 q_start;
q_start = get_jspace_start_(); // choose last cmd, or current joint angles
path_is_valid_ = cartTrajPlanner_.cartesian_path_planner(q_start, goal_flange_affine_, optimal_path_);
if (path_is_valid_) {
baxter_traj_streamer_.stuff_trajectory_right_arm(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
cart_result_.return_code = cartesian_planner::cart_moveResult::SUCCESS;
cart_result_.computed_arrival_time = computed_arrival_time_;
cart_move_as_.setSucceeded(cart_result_);
} else {
cart_result_.return_code = cartesian_planner::cart_moveResult::PATH_NOT_VALID;
cart_result_.computed_arrival_time = -1.0; //impossible arrival time
cart_move_as_.setSucceeded(cart_result_); //the communication was a success, but not the computation
}
return path_is_valid_;
}
*/
bool ArmMotionInterface::plan_jspace_path_current_to_cart_gripper_pose() {
ROS_INFO("computing a jspace trajectory to right-arm gripper goal pose");
//unpack the goal pose:
goal_gripper_pose_ = cart_goal_.des_pose_gripper;
xformUtils.printStampedPose(goal_gripper_pose_);
goal_flange_affine_ = xform_gripper_pose_to_affine_flange_wrt_torso(goal_gripper_pose_);
ROS_INFO("flange goal");
display_affine(goal_flange_affine_);
Vectorq7x1 q_start;
q_start = get_jspace_start_(); // choose last cmd, or current joint angles
// bool jspace_path_planner_to_affine_goal(Vectorq7x1 q_start, Eigen::Affine3d a_flange_end, std::vector<Eigen::VectorXd> &optimal_path);
path_is_valid_ = cartTrajPlanner_.jspace_path_planner_to_affine_goal(q_start, goal_flange_affine_, optimal_path_);
if (path_is_valid_) {
baxter_traj_streamer_.stuff_trajectory_right_arm(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
cart_result_.return_code = cartesian_planner::cart_moveResult::SUCCESS;
cart_result_.computed_arrival_time = computed_arrival_time_;
cart_move_as_.setSucceeded(cart_result_);
} else {
cart_result_.return_code = cartesian_planner::cart_moveResult::PATH_NOT_VALID;
cart_result_.computed_arrival_time = -1.0; //impossible arrival time
cart_move_as_.setSucceeded(cart_result_); //the communication was a success, but not the computation
}
return path_is_valid_;
}
//since baxter_traj_streamer_ object already has a subscription to joint_state,
// can use it to get joint states. Paranoid--extra tests to make sure data is "fresh"
Eigen::VectorXd ArmMotionInterface::get_right_arm_joint_angles(void) {
//not sure this is necessary; DO want "fresh" angles, so make sure values are updated:
q_vec_right_arm_[0] = 1000;
while (fabs(q_vec_right_arm_[0]) > 3) { // keep trying until see viable value populated by fnc
q_vec_right_arm_ = baxter_traj_streamer_.get_qvec_right_arm();
ros::spinOnce();
ros::Duration(0.01).sleep();
}
Eigen::VectorXd q_vec_xd;
q_vec_xd = q_vec_right_arm_; // convert from 7DOF to Xd
//while we're at it, fill in mem variable as well:
q_vec_right_arm_Xd_ = q_vec_xd;
return q_vec_xd;
}
//take in q_start and q_end and build trivial path in optimal_path_ for pure joint-space move
bool ArmMotionInterface::plan_jspace_path_qstart_to_qend(Vectorq7x1 q_start, Vectorq7x1 q_goal) {
ROS_INFO("setting up a joint-space path");
path_is_valid_ = cartTrajPlanner_.jspace_trivial_path_planner(q_start, q_goal, optimal_path_);
if (path_is_valid_) {
baxter_traj_streamer_.stuff_trajectory(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::SUCCESS;
cart_result_.computed_arrival_time = computed_arrival_time_;
cart_move_as_.setSucceeded(cart_result_);
}
else {
cart_result_.return_code = cwru_action::cwru_baxter_cart_moveResult::RT_ARM_PATH_NOT_VALID;
cart_result_.computed_arrival_time = -1.0; //impossible arrival time
cart_move_as_.setSucceeded(cart_result_); //the communication was a success, but not the computation
}
return path_is_valid_;
}
bool ArmMotionInterface::refine_cartesian_path_soln(void) {
ROS_INFO("ArmMotionInterface: refining trajectory");
if (path_is_valid_) {
bool valid = cartTrajPlanner_.refine_cartesian_path_plan(optimal_path_);
if (!valid) return false;
baxter_traj_streamer_.stuff_trajectory_right_arm(optimal_path_, des_trajectory_); //convert from vector of poses to trajectory message
computed_arrival_time_ = des_trajectory_.points.back().time_from_start.toSec();
cart_result_.return_code = cartesian_planner::cart_moveResult::SUCCESS;
cart_result_.computed_arrival_time = computed_arrival_time_;
cart_move_as_.setSucceeded(cart_result_);
} else {
cart_result_.return_code = cartesian_planner::cart_moveResult::PATH_NOT_VALID;
cart_result_.computed_arrival_time = -1.0; //impossible arrival time
cart_move_as_.setSucceeded(cart_result_); //the communication was a success, but not the computation
return false;
}
return true;
}
