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| <library path="moveit_ruckig_filter"> | ||
| <class type="online_signal_smoothing::RuckigFilterPlugin" | ||
| base_class_type="online_signal_smoothing::SmoothingBaseClass"> | ||
| <description> | ||
| Jerk/acceleration/velocity-limited command smoothing. | ||
| </description> | ||
| </class> | ||
| </library> |
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moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/ruckig_filter.h
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, Andrew Zelenak | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
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| /* Author: Andy Zelenak | ||
| Description: Applies jerk/acceleration/velocity limits to online motion commands | ||
| */ | ||
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| #pragma once | ||
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| #include <cstddef> | ||
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| #include <moveit/robot_model/robot_model.h> | ||
| #include <moveit/online_signal_smoothing/smoothing_base_class.h> | ||
| #include <moveit_ruckig_filter_parameters.hpp> | ||
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| #include <ruckig/ruckig.hpp> | ||
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| namespace online_signal_smoothing | ||
| { | ||
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| class RuckigFilterPlugin : public SmoothingBaseClass | ||
| { | ||
| public: | ||
| /** | ||
| * Initialize the smoothing algorithm | ||
| * @param node ROS node, used for parameter retrieval | ||
| * @param robot_model used to retrieve vel/accel/jerk limits | ||
| * @param num_joints number of actuated joints in the JointGroup | ||
| * @return True if initialization was successful | ||
| */ | ||
| bool initialize(rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model, | ||
| size_t num_joints) override; | ||
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| /** | ||
| * Smooth the command signals for all DOF | ||
| * @param positions array of joint position commands | ||
| * @param velocities array of joint velocity commands | ||
| * @param accelerations array of joint acceleration commands | ||
| * @return True if initialization was successful | ||
| */ | ||
| bool doSmoothing(Eigen::VectorXd& positions, Eigen::VectorXd& velocities, Eigen::VectorXd& accelerations) override; | ||
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| /** | ||
| * Reset to a given joint state | ||
| * @param positions reset the filters to these joint positions | ||
| * @param velocities (unused) | ||
| * @param accelerations (unused) | ||
| * @return True if reset was successful | ||
| */ | ||
| bool reset(const Eigen::VectorXd& positions, const Eigen::VectorXd& velocities, | ||
| const Eigen::VectorXd& accelerations) override; | ||
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| private: | ||
| /** | ||
| * A utility to print Ruckig's internal state | ||
| */ | ||
| void printRuckigState(); | ||
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| /** | ||
| * A utility to get velocity/acceleration/jerk bounds from the robot model | ||
| * @return true if all bounds are defined | ||
| */ | ||
| bool getVelAccelJerkBounds(std::vector<double>& joint_velocity_bounds, std::vector<double>& joint_acceleration_bounds, | ||
| std::vector<double>& joint_jerk_bounds); | ||
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| /** \brief Parameters loaded from yaml file at runtime */ | ||
| online_signal_smoothing::Params params_; | ||
| /** \brief The robot model contains the vel/accel/jerk limits that Ruckig requires */ | ||
| moveit::core::RobotModelConstPtr robot_model_; | ||
| bool have_initial_ruckig_output_ = false; | ||
| std::optional<ruckig::Ruckig<ruckig::DynamicDOFs>> ruckig_; | ||
| std::optional<ruckig::InputParameter<ruckig::DynamicDOFs>> ruckig_input_; | ||
| std::optional<ruckig::OutputParameter<ruckig::DynamicDOFs>> ruckig_output_; | ||
| }; | ||
| } // namespace online_signal_smoothing |
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