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82 changes: 82 additions & 0 deletions
82
...e/tesseract_process_managers/task_generators/ruckig_trajectory_smoothing_task_generator.h
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| /** | ||
| * @file ruckig_trajectory_smoothing_task_generator.h | ||
| * @brief Leveraging Ruckig to smooth trajectory | ||
| * | ||
| * @author Levi Armstrong | ||
| * @date July 27, 2022 | ||
| * @version TODO | ||
| * @bug No known bugs | ||
| * | ||
| * @par License | ||
| * Software License Agreement (Apache License) | ||
| * @par | ||
| * 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 | ||
| * @par | ||
| * 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. | ||
| */ | ||
| #ifndef TESSERACT_PROCESS_MANAGERS_RUCKIG_TRAJECTORY_SMOOTHING_TASK_GENERATOR_H | ||
| #define TESSERACT_PROCESS_MANAGERS_RUCKIG_TRAJECTORY_SMOOTHING_TASK_GENERATOR_H | ||
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| #include <tesseract_common/macros.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
| #include <boost/serialization/access.hpp> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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| #include <tesseract_process_managers/core/task_generator.h> | ||
| #include <tesseract_time_parameterization/ruckig_trajectory_smoothing.h> | ||
| #include <tesseract_process_managers/core/default_task_namespaces.h> | ||
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| namespace tesseract_planning | ||
| { | ||
| class RuckigTrajectorySmoothingTaskGenerator : public TaskGenerator | ||
| { | ||
| public: | ||
| using UPtr = std::unique_ptr<RuckigTrajectorySmoothingTaskGenerator>; | ||
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| RuckigTrajectorySmoothingTaskGenerator(std::string name = profile_ns::RUCKIG_TRAJECTORY_SMOOTHING_DEFAULT_NAMESPACE); | ||
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| ~RuckigTrajectorySmoothingTaskGenerator() override = default; | ||
| RuckigTrajectorySmoothingTaskGenerator(const RuckigTrajectorySmoothingTaskGenerator&) = delete; | ||
| RuckigTrajectorySmoothingTaskGenerator& operator=(const RuckigTrajectorySmoothingTaskGenerator&) = delete; | ||
| RuckigTrajectorySmoothingTaskGenerator(RuckigTrajectorySmoothingTaskGenerator&&) = delete; | ||
| RuckigTrajectorySmoothingTaskGenerator& operator=(RuckigTrajectorySmoothingTaskGenerator&&) = delete; | ||
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| int conditionalProcess(TaskInput input, std::size_t unique_id) const override final; | ||
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| void process(TaskInput input, std::size_t unique_id) const override final; | ||
| }; | ||
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| class RuckigTrajectorySmoothingTaskInfo : public TaskInfo | ||
| { | ||
| public: | ||
| using Ptr = std::shared_ptr<RuckigTrajectorySmoothingTaskInfo>; | ||
| using ConstPtr = std::shared_ptr<const RuckigTrajectorySmoothingTaskInfo>; | ||
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| RuckigTrajectorySmoothingTaskInfo() = default; | ||
| RuckigTrajectorySmoothingTaskInfo(std::size_t unique_id, | ||
| std::string name = profile_ns::RUCKIG_TRAJECTORY_SMOOTHING_DEFAULT_NAMESPACE); | ||
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| TaskInfo::UPtr clone() const override; | ||
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| bool operator==(const RuckigTrajectorySmoothingTaskInfo& rhs) const; | ||
| bool operator!=(const RuckigTrajectorySmoothingTaskInfo& rhs) const; | ||
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| private: | ||
| friend class boost::serialization::access; | ||
| template <class Archive> | ||
| void serialize(Archive& ar, const unsigned int version); // NOLINT | ||
| }; | ||
| } // namespace tesseract_planning | ||
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| #include <boost/serialization/export.hpp> | ||
| #include <boost/serialization/tracking.hpp> | ||
| BOOST_CLASS_EXPORT_KEY2(tesseract_planning::RuckigTrajectorySmoothingTaskInfo, "RuckigTrajectorySmoothingTaskInfo") | ||
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| #endif // TESSERACT_PROCESS_MANAGERS_RUCKIG_TRAJECTORY_SMOOTHING_TASK_GENERATOR_H |
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...rs/include/tesseract_process_managers/task_profiles/ruckig_trajectory_smoothing_profile.h
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| /** | ||
| * @file ruckig_trajectory_smoothing_profile.h | ||
| * @brief Leveraging Ruckig to smooth trajectory | ||
| * | ||
| * @author Levi Armstrong | ||
| * @date July 27, 2022 | ||
| * @version TODO | ||
| * @bug No known bugs | ||
| * | ||
| * @par License | ||
| * Software License Agreement (Apache License) | ||
| * @par | ||
| * 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 | ||
| * @par | ||
| * 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. | ||
| */ | ||
| #ifndef TESSERACT_PROCESS_MANAGERS_RUCKIG_TRAJECTORY_SMOOTHING_PROFILE_H | ||
| #define TESSERACT_PROCESS_MANAGERS_RUCKIG_TRAJECTORY_SMOOTHING_PROFILE_H | ||
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| #include <tesseract_common/macros.h> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
| #include <memory> | ||
| TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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| namespace tesseract_planning | ||
| { | ||
| struct RuckigTrajectorySmoothingCompositeProfile | ||
| { | ||
| using Ptr = std::shared_ptr<RuckigTrajectorySmoothingCompositeProfile>; | ||
| using ConstPtr = std::shared_ptr<const RuckigTrajectorySmoothingCompositeProfile>; | ||
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| RuckigTrajectorySmoothingCompositeProfile() = default; | ||
| RuckigTrajectorySmoothingCompositeProfile(double duration_extension_fraction, | ||
| double max_duration_extension_factor, | ||
| double max_velocity_scaling_factor, | ||
| double max_acceleration_scaling_factor) | ||
| : duration_extension_fraction(duration_extension_fraction) | ||
| , max_duration_extension_factor(max_duration_extension_factor) | ||
| , max_velocity_scaling_factor(max_velocity_scaling_factor) | ||
| , max_acceleration_scaling_factor(max_acceleration_scaling_factor) | ||
| { | ||
| } | ||
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| /** @brief duration_extension_fraction The amount to scale the trajectory each time */ | ||
| double duration_extension_fraction{ 1.1 }; | ||
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| /** @brief The max allow extension factor */ | ||
| double max_duration_extension_factor{ 10.0 }; | ||
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| /** @brief max_velocity_scaling_factor The max velocity scaling factor passed to the solver */ | ||
| double max_velocity_scaling_factor{ 1.0 }; | ||
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| /** @brief max_velocity_scaling_factor The max acceleration scaling factor passed to the solver */ | ||
| double max_acceleration_scaling_factor{ 1.0 }; | ||
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| /** @brief max_jerk_scaling_factor The max jerk scaling factor passed to the solver */ | ||
| double max_jerk_scaling_factor{ 1.0 }; | ||
| }; | ||
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| struct RuckigTrajectorySmoothingMoveProfile | ||
| { | ||
| using Ptr = std::shared_ptr<RuckigTrajectorySmoothingMoveProfile>; | ||
| using ConstPtr = std::shared_ptr<const RuckigTrajectorySmoothingMoveProfile>; | ||
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| RuckigTrajectorySmoothingMoveProfile() = default; | ||
| RuckigTrajectorySmoothingMoveProfile(double max_velocity_scaling_factor, double max_acceleration_scaling_factor) | ||
| : max_velocity_scaling_factor(max_velocity_scaling_factor) | ||
| , max_acceleration_scaling_factor(max_acceleration_scaling_factor) | ||
| { | ||
| } | ||
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| /** @brief max_velocity_scaling_factor The max velocity scaling factor passed to the solver */ | ||
| double max_velocity_scaling_factor{ 1.0 }; | ||
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| /** @brief max_velocity_scaling_factor The max acceleration scaling factor passed to the solver */ | ||
| double max_acceleration_scaling_factor{ 1.0 }; | ||
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| /** @brief max_jerk_scaling_factor The max jerk scaling factor passed to the solver */ | ||
| double max_jerk_scaling_factor{ 1.0 }; | ||
| }; | ||
| } // namespace tesseract_planning | ||
|
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| #endif // TESSERACT_PROCESS_MANAGERS_RUCKIG_TRAJECTORY_SMOOTHING_PROFILE_H |
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