generate_random_pose.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2020, PickNik Inc
 *  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.
 *********************************************************************/
 
/* Authors: Henning Kayser
   Desc:    Generator Stage for randomized poses based on GeneratePose
*/
 
#pragma once
 
#include <moveit/task_constructor/stages/generate_pose.h>
 
#include <random>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class GenerateRandomPose : public GeneratePose
{
public:
    GenerateRandomPose(const std::string& name = "generate random pose");
 
    bool canCompute() const override;
    void compute() override;
 
    using PoseDimensionSampler = std::function<double(double)>;
    enum PoseDimension : uint8_t
    {
        X,
        Y,
        Z,
        ROLL,
        PITCH,
        YAW
    };
 
    template <template <class Realtype = double> class RandomNumberDistribution>
    void sampleDimension(const PoseDimension pose_dimension, double width) {
        sampleDimension(pose_dimension, getPoseDimensionSampler<RandomNumberDistribution>(width));
    }
 
    void sampleDimension(const PoseDimension pose_dimension, const PoseDimensionSampler& pose_dimension_sampler) {
        pose_dimension_samplers_.emplace_back(std::make_pair(pose_dimension, pose_dimension_sampler));
    }
 
    void setMaxSolutions(size_t max_solutions) { setProperty("max_solutions", max_solutions); }
 
private:
    template <template <class Realtype = double> class RandomNumberDistribution>
    PoseDimensionSampler getPoseDimensionSampler(double /* width */) {
        static_assert(sizeof(RandomNumberDistribution<double>) == -1, "This distribution type is not supported!");
        throw 0;  // suppress -Wreturn-type
    }
 
    std::vector<std::pair<PoseDimension, PoseDimensionSampler>> pose_dimension_samplers_;
};
template <>
GenerateRandomPose::PoseDimensionSampler
GenerateRandomPose::getPoseDimensionSampler<std::normal_distribution>(double stddev);
template <>
GenerateRandomPose::PoseDimensionSampler
GenerateRandomPose::getPoseDimensionSampler<std::uniform_real_distribution>(double range);
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit