//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_;
}
//this is a pretty general function:
// goal contains a desired tool pose;
// Cartesian path is planned from current joint state to some joint state that achieves desired tool pose
// assume gripper pose is in frame "generic_gripper_frame"; need to transform this to Baxter gripper frame
// also, frame_id of this pose needs to get converted to "torso" frame
bool ArmMotionInterface::plan_path_current_to_goal_gripper_pose() {
ROS_INFO("computing a cartesian trajectory to gripper goal pose");
//ROS_WARN("plan_path_current_to_goal_gripper_pose: goal_gripper_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
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_path_qstart_to_Agoal(Vectorq7x1 q_start) { // provide q_start; assumes use of a_flange_end_ and fills in g_optimal_path
path_is_valid_ = cartTrajPlanner_.cartesian_path_planner(q_start, a_flange_end_, optimal_path_);
return path_is_valid_;
}