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Add TrajOpt Ifopt planner (tesseract-robotics#443)
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46 changes: 46 additions & 0 deletions
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...de/tesseract_motion_planners/trajopt_ifopt/problem_generators/default_problem_generator.h
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/** | ||
* @file default_problem_generator.h | ||
* @brief Generates a trajopt problem from a planner request | ||
* | ||
* @author Levi Armstrong | ||
* @date April 18, 2018 | ||
* @version TODO | ||
* @bug No known bugs | ||
* | ||
* @copyright Copyright (c) 2020, Southwest Research Institute | ||
* | ||
* @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_MOTION_PLANNERS_TRAJOPT_IFOPT_DEFAULT_PROBLEM_GENERATOR_H | ||
#define TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_DEFAULT_PROBLEM_GENERATOR_H | ||
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#include <tesseract_common/macros.h> | ||
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
#include <ifopt/problem.h> | ||
TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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#include <tesseract_motion_planners/core/types.h> | ||
#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h> | ||
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namespace tesseract_planning | ||
{ | ||
std::shared_ptr<TrajOptIfoptProblem> | ||
DefaultTrajoptProblemGenerator(const std::string& name, | ||
const PlannerRequest& request, | ||
const TrajOptIfoptPlanProfileMap& plan_profiles, | ||
const TrajOptIfoptCompositeProfileMap& composite_profiles); | ||
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} // namespace tesseract_planning | ||
#endif |
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...tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_composite_profile.h
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/** | ||
* @file trajopt_default_composite_profile.h | ||
* @brief | ||
* | ||
* @author Levi Armstrong | ||
* @date June 18, 2020 | ||
* @version TODO | ||
* @bug No known bugs | ||
* | ||
* @copyright Copyright (c) 2020, Southwest Research Institute | ||
* | ||
* @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. | ||
*/ | ||
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#ifndef TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_DEFAULT_COMPOSITE_PROFILE_H | ||
#define TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_DEFAULT_COMPOSITE_PROFILE_H | ||
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#include <tesseract_common/macros.h> | ||
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH | ||
#include <vector> | ||
#include <Eigen/Geometry> | ||
#include <Eigen/Core> | ||
#include <trajopt_ifopt/constraints/collision_evaluators.h> | ||
TESSERACT_COMMON_IGNORE_WARNINGS_POP | ||
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#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h> | ||
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namespace tesseract_planning | ||
{ | ||
class TrajOptIfoptDefaultCompositeProfile : public TrajOptIfoptCompositeProfile | ||
{ | ||
public: | ||
TrajOptIfoptDefaultCompositeProfile() = default; | ||
TrajOptIfoptDefaultCompositeProfile(const tinyxml2::XMLElement& xml_element); | ||
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/** @brief Configuration info for collisions that are modeled as costs */ | ||
trajopt::TrajOptCollisionConfig::Ptr collision_cost_config; | ||
/** @brief Configuration info for collisions that are modeled as constraints */ | ||
trajopt::TrajOptCollisionConfig::Ptr collision_constraint_config; | ||
/** @brief If true, a joint velocity cost with a target of 0 will be applied for all timesteps Default: true*/ | ||
bool smooth_velocities = true; | ||
/** @brief This default to all ones, but allows you to weight different joints */ | ||
Eigen::VectorXd velocity_coeff; | ||
/** @brief If true, a joint acceleration cost with a target of 0 will be applied for all timesteps Default: false*/ | ||
bool smooth_accelerations = true; | ||
/** @brief This default to all ones, but allows you to weight different joints */ | ||
Eigen::VectorXd acceleration_coeff; | ||
/** @brief If true, a joint jerk cost with a target of 0 will be applied for all timesteps Default: false*/ | ||
bool smooth_jerks = true; | ||
/** @brief This default to all ones, but allows you to weight different joints */ | ||
Eigen::VectorXd jerk_coeff; | ||
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/** @brief Set the resolution at which state validity needs to be verified in order for a motion between two states | ||
* to be considered valid in post checking of trajectory returned by TrajOptIfopt. | ||
* | ||
* The resolution is equal to longest_valid_segment_fraction * state_space.getMaximumExtent() | ||
* | ||
* Note: The planner takes the conservative of either longest_valid_segment_fraction or longest_valid_segment_length. | ||
*/ | ||
double longest_valid_segment_fraction = 0.01; // 1% | ||
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/** @brief Set the resolution at which state validity needs to be verified in order for a motion between two states | ||
* to be considered valid. If norm(state1 - state0) > longest_valid_segment_length. | ||
* | ||
* Note: This gets converted to longest_valid_segment_fraction. | ||
* longest_valid_segment_fraction = longest_valid_segment_length / state_space.getMaximumExtent() | ||
*/ | ||
double longest_valid_segment_length = 0.5; | ||
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/** @brief Special link collision cost distances */ | ||
trajopt::SafetyMarginData::Ptr special_collision_cost{ nullptr }; | ||
/** @brief Special link collision constraint distances */ | ||
trajopt::SafetyMarginData::Ptr special_collision_constraint{ nullptr }; | ||
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void apply(TrajOptIfoptProblem& problem, | ||
int start_index, | ||
int end_index, | ||
const ManipulatorInfo& manip_info, | ||
const std::vector<std::string>& active_links, | ||
const std::vector<int>& fixed_indices) const override; | ||
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tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const override; | ||
}; | ||
} // namespace tesseract_planning | ||
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#endif // TESSERACT_MOTION_PLANNERS_TRAJOPT_IFOPT_DEFAULT_COMPOSITE_PROFILE_H |
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