Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Do not add joint waypoint to fixed indices if not constrained #427

Open
wants to merge 4 commits into
base: master
Choose a base branch
from
Open

Do not add joint waypoint to fixed indices if not constrained #427

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
45bc2c7
Add cartesian waypoints to fixed indices
rjoomen Dec 14, 2023
eb94878
Add isFixed...() methods to plan profiles
rjoomen Dec 15, 2023
3373198
clang-format
rjoomen Dec 15, 2023
5cf4ff3
Removed fixed cartesian logic
rjoomen Jan 8, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions .../trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ class TrajOptDefaultPlanProfile : public TrajOptPlanProfile
const std::vector<std::string>& active_links,
int index) const override;

bool isFixedJoint() const override;

tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const override;

protected:
Expand Down
2 changes: 2 additions & 0 deletions ...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_profile.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,8 @@ class TrajOptPlanProfile
const std::vector<std::string>& active_links,
int index) const = 0;

virtual bool isFixedJoint() const = 0;

virtual tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const = 0;
};

Expand Down
7 changes: 7 additions & 0 deletions tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,13 @@ void TrajOptDefaultPlanProfile::addConstraintErrorFunctions(trajopt::ProblemCons
}
}

bool TrajOptDefaultPlanProfile::isFixedJoint() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == trajopt::TermType::TT_CNT) &&
(abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

tinyxml2::XMLElement* TrajOptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& doc) const
{
tinyxml2::XMLElement* xml_planner = doc.NewElement("Planner");
Expand Down
2 changes: 1 addition & 1 deletion tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -300,7 +300,7 @@ TrajOptMotionPlanner::createProblem(const PlannerRequest& request) const
cur_plan_profile->apply(*pci, jwp, move_instruction, composite_mi, active_links, i);

// Add to fixed indices
if (!jwp.isToleranced()) /** @todo Should not make fixed if term_type is cost */
if (!jwp.isToleranced() && cur_plan_profile->isFixedJoint())
fixed_steps.push_back(i);
}

Expand Down
2 changes: 2 additions & 0 deletions ...lude/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,8 @@ class TrajOptIfoptDefaultPlanProfile : public TrajOptIfoptPlanProfile
const std::vector<std::string>& active_links,
int index) const override;

bool isFixedJoint() const override;

tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const override;
};
} // namespace tesseract_planning
Expand Down
2 changes: 2 additions & 0 deletions ...opt_ifopt/include/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,8 @@ class TrajOptIfoptPlanProfile
const std::vector<std::string>& active_links,
int index) const = 0;

virtual bool isFixedJoint() const = 0;

virtual tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const = 0;
};

Expand Down
7 changes: 7 additions & 0 deletions tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_default_plan_profile.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,13 @@ void TrajOptIfoptDefaultPlanProfile::apply(TrajOptIfoptProblem& problem,
}
}

bool TrajOptIfoptDefaultPlanProfile::isFixedJoint() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == TrajOptIfoptTermType::CONSTRAINT) &&
(abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

tinyxml2::XMLElement* TrajOptIfoptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& /*doc*/) const
{
throw std::runtime_error("TrajOptIfoptDefaultPlanProfile::toXML is not implemented!");
Expand Down
2 changes: 1 addition & 1 deletion tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ std::shared_ptr<TrajOptIfoptProblem> TrajOptIfoptMotionPlanner::createProblem(co
cur_plan_profile->apply(*problem, jwp, move_instruction, composite_mi, active_links, i);

// Add to fixed indices
if (!jwp.isToleranced()) /** @todo Should not make fixed if term_type is cost */
if (!jwp.isToleranced() && cur_plan_profile->isFixedJoint())
fixed_steps.push_back(i);
}
}
Expand Down
Loading