///----------------------------------------------------------------------------
aid_t coroutine_stackful_actor::recv(response_t res, message& msg, duration_t tmo)
{
aid_t sender;
recving_res_ = res;
if (!mb_.pop(res, msg))
{
if (tmo > zero)
{
detail::scoped_bool<bool> scp(responsing_);
if (tmo < infin)
{
start_recv_timer(tmo);
}
actor_code ac = yield();
if (ac == actor_timeout)
{
return sender;
}
res = recving_res_;
msg = recving_msg_;
recving_res_ = response_t();
recving_msg_ = message();
}
else
{
return sender;
}
}
sender = res.get_aid();
return sender;
}
///----------------------------------------------------------------------------
void coroutine_stackful_actor::on_free()
{
base_type::on_free();
stat_ = ready;
f_.clear();
curr_match_.clear();
recving_ = false;
responsing_ = false;
recving_rcv_ = detail::recv_t();
recving_res_ = response_t();
recving_msg_ = message();
ec_ = exit_normal;
exit_msg_.clear();
}
bool CartesianTrajectoryPlannerModule::plan(vigir_planning_msgs::RequestDrakeCartesianTrajectory &request_message, vigir_planning_msgs::ResultDrakeTrajectory &result_message)
{
// stay at q0 for nominal trajectory
bool received_world_transform = false;
VectorXd q0 = VectorXd::Zero(this->getRobotModel()->num_positions);
q0 = messageQs2DrakeQs(q0, request_message.current_state, received_world_transform);
std::cout << "q0 = " << std::endl;
MatrixXd printQ = q0;
printSortedQs(printQ);
if ( request_message.waypoint_times.empty() ) {
request_message.waypoint_times = estimateWaypointTimes(q0, request_message.target_link_names, request_message.waypoints);
if ( request_message.waypoint_times.empty() ) { // request was invalid
return false;
}
}
std::vector<Waypoint*> waypoints = extractOrderedWaypoints(request_message);
int nq = getRobotModel()->num_positions;
int num_steps = waypoints.size();
bool success = true;
// run inverse kinematics
MatrixXd q_sol(nq,0);
MatrixXd qd_sol(nq,0);
MatrixXd qdd_sol(nq,0);
std::vector<double> t_sol;
int last_successful_waypoint = -1;
for ( int i = 1; i < num_steps; i++ ) {
Waypoint *current_start_point = waypoints[i-1];
Waypoint *current_target_point = waypoints[i];
double time_step = (current_target_point->waypoint_time - current_start_point->waypoint_time) / NUM_TIME_STEPS;
// check trajectory every time_step seconds
std::vector<double> t_vec;
double duration = current_target_point->waypoint_time - current_start_point->waypoint_time;
t_vec.push_back(current_start_point->waypoint_time);
t_vec.push_back(current_start_point->waypoint_time + duration/2.0);
t_vec.push_back(current_target_point->waypoint_time);
t_sol.push_back(current_start_point->waypoint_time);
t_sol.push_back(current_start_point->waypoint_time + duration/2.0);
VectorXd qdot_0 = VectorXd::Zero(this->getRobotModel()->num_velocities);
MatrixXd q_seed = q0.replicate(1, t_vec.size());
MatrixXd q_nom = q_seed;
// build list of constraints from message
IKoptions *ik_options = buildIKOptions(duration);
// build constraints
std::vector<RigidBodyConstraint*> constraints = buildIKConstraints(request_message, current_start_point, current_target_point, q0);
// run IK trajectory calculation
MatrixXd q_sol_part(this->getRobotModel()->num_positions,t_vec.size());
MatrixXd qd_sol_part(this->getRobotModel()->num_positions,t_vec.size());
MatrixXd qdd_sol_part(this->getRobotModel()->num_positions,t_vec.size());
int info;
std::vector<std::string> infeasible_constraints;
inverseKinTraj(this->getRobotModel(),t_vec.size(),t_vec.data(),qdot_0,q_seed,q_nom,constraints.size(),constraints.data(),q_sol_part,qd_sol_part,qdd_sol_part,info,infeasible_constraints,*ik_options);
if(info>=10) { // something went wrong
std::string constraint_string = "";
for (auto const& constraint : infeasible_constraints) { constraint_string += (constraint+" | "); }
ROS_WARN("Step %d / %d: SNOPT info is %d, IK mex fails to solve the problem", i+1, num_steps, info);
ROS_INFO("Infeasible constraints: %s", constraint_string.c_str());
if ( i == 1 || request_message.execute_incomplete_cartesian_plans == false) {
success = false;
break;
}
else {
t_sol.erase(t_sol.end()-1, t_sol.end());
q_sol.conservativeResize(nq, q_sol.cols() + 1 );
qd_sol.conservativeResize(nq, qd_sol.cols() + 1 );
qdd_sol.conservativeResize(nq, qdd_sol.cols() + 1 );
q_sol.block(0, q_sol.cols()-1, nq, 1) = q0;
qd_sol.block(0, q_sol.cols()-1, nq, 1) = MatrixXd::Zero(nq, 1);
qdd_sol.block(0, q_sol.cols()-1, nq, 1) = MatrixXd::Zero(nq, 1);
break;
}
}
int old_q_size = q_sol.cols();
q_sol.conservativeResize(nq, q_sol.cols() + q_sol_part.cols()-1 );
qd_sol.conservativeResize(nq, qd_sol.cols() + qd_sol_part.cols()-1 );
qdd_sol.conservativeResize(nq, qdd_sol.cols() + qdd_sol_part.cols()-1 );
q_sol.block(0, old_q_size, nq, q_sol_part.cols()-1) = q_sol_part.block(0, 0, nq, q_sol_part.cols()-1);
qd_sol.block(0, old_q_size, nq, qd_sol_part.cols()-1) = qd_sol_part.block(0, 0, nq, qd_sol_part.cols()-1);
qdd_sol.block(0, old_q_size, nq, qdd_sol_part.cols()-1) = qdd_sol_part.block(0, 0, nq, qdd_sol_part.cols()-1);
// add final element at the very end
if ( i == num_steps-1 ) {
t_sol.push_back(waypoints[ waypoints.size()-1 ]->waypoint_time);
q_sol.conservativeResize(nq, q_sol.cols() + 1 );
qd_sol.conservativeResize(nq, qd_sol.cols() + 1 );
qdd_sol.conservativeResize(nq, qdd_sol.cols() + 1 );
q_sol.block(0, q_sol.cols()-1, nq, 1) = q_sol_part.block(0, q_sol_part.cols()-1, nq, 1);
qd_sol.block(0, q_sol.cols()-1, nq, 1) = qd_sol_part.block(0, qd_sol_part.cols()-1, nq, 1);
qdd_sol.block(0, q_sol.cols()-1, nq, 1) = qdd_sol_part.block(0, qdd_sol_part.cols()-1, nq, 1);
}
q0 = q_sol_part.col( q_sol_part.cols()-1 );
last_successful_waypoint = i;
}
if ( success ) {
// generate spline from result matrices (default sample rate = 4.0Hz)
if ( request_message.trajectory_sample_rate == 0.0 ) {
request_message.trajectory_sample_rate = 4.0;
}
double time_step = 1.0 / request_message.trajectory_sample_rate;
double duration = waypoints[ last_successful_waypoint]->waypoint_time;
int num_steps = (duration / time_step) + 0.5;
Eigen::VectorXd response_t(num_steps+1);
for ( int i = 0; i <= num_steps; i++) {
response_t(i) = i*time_step;
}
Eigen::VectorXd interpolated_t = Map<VectorXd>(t_sol.data(), t_sol.size());
interpolateTrajectory(q_sol, interpolated_t, response_t, q_sol, qd_sol, qdd_sol);
result_message = buildTrajectoryResultMsg(q_sol, qd_sol, qdd_sol, response_t, request_message.free_joint_names, received_world_transform);
}
else {
// return an invalid message
result_message.is_valid = false;
}
return success;
}
