cartesian_path.h

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/* Authors: Michael Goerner, Robert Haschke
   Desc:    generate and validate a straight-line Cartesian path
*/
 
#pragma once
 
#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/robot_state/cartesian_interpolator.h>
 
namespace moveit {
namespace task_constructor {
namespace solvers {
 
MOVEIT_CLASS_FORWARD(CartesianPath);
 
class CartesianPath : public PlannerInterface
{
public:
    CartesianPath();
 
    void setIKFrame(const geometry_msgs::PoseStamped& pose) { setProperty("ik_frame", pose); }
    void setIKFrame(const Eigen::Isometry3d& pose, const std::string& link);
    void setIKFrame(const std::string& link) { setIKFrame(Eigen::Isometry3d::Identity(), link); }
 
    void setStepSize(double step_size) { setProperty("step_size", step_size); }
    void setPrecision(const moveit::core::CartesianPrecision& precision) { setProperty("precision", precision); }
    template <typename T = float>
    void setJumpThreshold(double /*unused*/) {
        static_assert(std::is_integral<T>::value, "setJumpThreshold() is deprecated. Replace with setPrecision.");
    }
    void setMinFraction(double min_fraction) { setProperty("min_fraction", min_fraction); }
 
    [[deprecated("Replace with setMaxVelocityScalingFactor")]]  // clang-format off
    void setMaxVelocityScaling(double factor) { setMaxVelocityScalingFactor(factor); }  // clang-format on
    [[deprecated("Replace with setMaxAccelerationScalingFactor")]]  // clang-format off
    void setMaxAccelerationScaling(double factor) { setMaxAccelerationScalingFactor(factor); }  // clang-format on
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
                const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
 
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
                const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
                const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
};
}  // namespace solvers
}  // namespace task_constructor
}  // namespace moveit