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...rajectory_cache/include/moveit/trajectory_cache/features/motion_plan_request_features.hpp
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| // Copyright 2024 Intrinsic Innovation LLC. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| /** @file | ||
| * @brief moveit_msgs::msg::MotionPlanRequest features to key the trajectory cache on. | ||
| * @see FeaturesInterface<FeatureSourceT> | ||
| * | ||
| * @author methylDragon | ||
| */ | ||
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| #pragma once | ||
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| #include <warehouse_ros/message_collection.h> | ||
| #include <moveit/move_group_interface/move_group_interface.h> | ||
| #include <moveit_msgs/msg/motion_plan_request.hpp> | ||
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| #include <moveit/trajectory_cache/features/features_interface.hpp> | ||
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| namespace moveit_ros | ||
| { | ||
| namespace trajectory_cache | ||
| { | ||
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| // "Start" features. =============================================================================== | ||
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| /** @class WorkspaceFeatures | ||
| * @brief Extracts group name and details of the `workspace_parameters` field in the plan request. | ||
| * | ||
| * A cache hit with this feature is valid if the requested planning constraints has a workspace that | ||
| * completely subsumes a cached entry's workspace. | ||
| * | ||
| * For example: (We ignore z for simplicity) | ||
| * If workspace is defined by the extrema (x_min, y_min, x_max, y_max), | ||
| * | ||
| * Potential valid match if other constraints fulfilled: | ||
| * Request: (-1, -1, 1, 1) | ||
| * Plan in cache: (-0.5, -0.5, 0.5, 0.5) | ||
| * | ||
| * No match, since this plan might cause the end effector to go out of bounds.: | ||
| * Request: (-1, -1, 1, 1) | ||
| * Plan in cache: (-2, -0.5, 0.5, 0.5) | ||
| */ | ||
| class WorkspaceFeatures : public FeaturesInterface<moveit_msgs::msg::MotionPlanRequest> | ||
| { | ||
| public: | ||
| WorkspaceFeatures(); | ||
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| std::string getName() const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group) const override; | ||
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| private: | ||
| const std::string name_; | ||
| }; | ||
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| /** @class StartStateJointStateFeatures | ||
| * @brief Extracts details of the joint state from the `start_state` field in the plan request. | ||
| * | ||
| * The start state will always be re-interpreted into explicit joint state positions. | ||
| * | ||
| * WARNING: | ||
| * MultiDOF joints and attached collision objects are not supported. | ||
| * | ||
| * @see appendRobotStateJointStateAsFetchQueryWithTolerance | ||
| * @see appendRobotStateJointStateAsInsertMetadata | ||
| */ | ||
| class StartStateJointStateFeatures : public FeaturesInterface<moveit_msgs::msg::MotionPlanRequest> | ||
| { | ||
| public: | ||
| StartStateJointStateFeatures(double match_tolerance); | ||
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| std::string getName() const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group) const override; | ||
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| private: | ||
| moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance( | ||
| warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const; | ||
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| const std::string name_; | ||
| const double match_tolerance_; | ||
| }; | ||
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| // "Goal" features. ================================================================================ | ||
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| /** @class MaxSpeedAndAccelerationFeatures | ||
| * @brief Extracts max velocity and acceleration scaling, and cartesian speed limits from the plan request. | ||
| * | ||
| * These features will be extracted as less-than-or-equal features. | ||
| * | ||
| * NOTE: In accordance with the source message's field descriptions: | ||
| * If the max scaling factors are outside the range of (0, 1], they will be set to 1. | ||
| * If max_cartesian_speed is <= 0, it will be ignored instead. | ||
| */ | ||
| class MaxSpeedAndAccelerationFeatures : public FeaturesInterface<moveit_msgs::msg::MotionPlanRequest> | ||
| { | ||
| public: | ||
| MaxSpeedAndAccelerationFeatures(); | ||
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| std::string getName() const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group) const override; | ||
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| private: | ||
| const std::string name_; | ||
| }; | ||
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| /** @class GoalConstraintsFeatures | ||
| * @brief Extracts features fom the `goal_constraints` field in the plan request. | ||
| * | ||
| * @see appendConstraintsAsFetchQueryWithTolerance | ||
| * @see appendConstraintsAsInsertMetadata | ||
| */ | ||
| class GoalConstraintsFeatures : public FeaturesInterface<moveit_msgs::msg::MotionPlanRequest> | ||
| { | ||
| public: | ||
| GoalConstraintsFeatures(double match_tolerance); | ||
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| std::string getName() const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group) const override; | ||
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| private: | ||
| moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance( | ||
| warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const; | ||
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| const std::string name_; | ||
| const double match_tolerance_; | ||
| }; | ||
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| /** @class PathConstraintsFeatures | ||
| * @brief Extracts features fom the `path_constraints` field in the plan request. | ||
| * | ||
| * @see appendConstraintsAsFetchQueryWithTolerance | ||
| * @see appendConstraintsAsInsertMetadata | ||
| */ | ||
| class PathConstraintsFeatures : public FeaturesInterface<moveit_msgs::msg::MotionPlanRequest> | ||
| { | ||
| public: | ||
| PathConstraintsFeatures(double match_tolerance); | ||
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| std::string getName() const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group) const override; | ||
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| private: | ||
| moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance( | ||
| warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const; | ||
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| const std::string name_; | ||
| const double match_tolerance_; | ||
| }; | ||
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| /** @class TrajectoryConstraintsFeatures | ||
| * @brief Extracts features fom the `trajectory_constraints` field in the plan request. | ||
| * | ||
| * @see appendConstraintsAsFetchQueryWithTolerance | ||
| * @see appendConstraintsAsInsertMetadata | ||
| */ | ||
| class TrajectoryConstraintsFeatures : public FeaturesInterface<moveit_msgs::msg::MotionPlanRequest> | ||
| { | ||
| public: | ||
| TrajectoryConstraintsFeatures(double match_tolerance); | ||
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| std::string getName() const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, | ||
| double exact_match_precision) const override; | ||
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| moveit::core::MoveItErrorCode | ||
| appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group) const override; | ||
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| private: | ||
| moveit::core::MoveItErrorCode appendFeaturesAsFetchQueryWithTolerance( | ||
| warehouse_ros::Query& query, const moveit_msgs::msg::MotionPlanRequest& source, | ||
| const moveit::planning_interface::MoveGroupInterface& move_group, double match_tolerance) const; | ||
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| const std::string name_; | ||
| const double match_tolerance_; | ||
| }; | ||
|
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| } // namespace trajectory_cache | ||
| } // namespace moveit_ros |
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