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PlanarManipulatorIKGoal.h
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34
35/* Author: Ryan Luna */
36
37#ifndef PLANAR_MANIPULATOR_IK_GOAL_H_
38#define PLANAR_MANIPULATOR_IK_GOAL_H_
39
40#include <ompl/base/goals/GoalLazySamples.h>
41#include <Eigen/Dense>
42#include "PlanarManipulator.h"
43#include "PlanarManipulatorStateSpace.h"
44
45#include <boost/math/constants/constants.hpp>
46
47#ifndef PI
48#define PI boost::math::constants::pi<double>()
49#define TWOPI boost::math::constants::two_pi<double>()
50#endif
51
52// A goal that allows for specification of position (and optionally, the
53// orientation) for the end effector of a planar manipulator.
54// Uses GoalLazySamples to sample valid IK positions
56{
57public:
58 // If fixedOrientation is false, the orientation in the goalPose is not
59 // considered (a random orientation will be sampled).
60 PlanarManipulatorIKGoal(const ompl::base::SpaceInformationPtr &si, const Eigen::Affine2d &goalPose,
61 const PlanarManipulator *manipulator, bool fixedOrientation = true)
63 si, [this](const ompl::base::GoalLazySamples *, ompl::base::State *st) { return sampleGoalThread(st); },
64 true)
65 , goalPose_(goalPose)
66 , manipulator_(manipulator)
67 , fixedOrientation_(fixedOrientation)
68 {
69 }
70
71 virtual double distanceGoal(const ompl::base::State *st) const
72 {
73 const double *angles = st->as<PlanarManipulatorStateSpace::StateType>()->values;
74
75 // Figure out where the end effector is
76 Eigen::Affine2d eeFrame;
77 manipulator_->FK(angles, eeFrame);
78
79 double cartesianDist = (eeFrame.translation() - goalPose_.translation()).norm();
80
81 // Orientation does not matter
82 if (!fixedOrientation_)
83 return cartesianDist;
84
85 double eeRot = acos(eeFrame.matrix()(0, 0));
86 double goalRot = acos(goalPose_.matrix()(0, 0));
87 double angleDiff = fabs(goalRot - eeRot);
88
89 // return the translational and rotational differences
90 return cartesianDist + angleDiff;
91 }
92
93protected:
94 bool sampleGoalThread(ompl::base::State *st) const
95 {
96 std::vector<double> seed(manipulator_->getNumLinks());
97 std::vector<double> soln(manipulator_->getNumLinks());
98
99 bool good = false;
100 unsigned int maxTries = 1000;
101 unsigned int tries = 0;
102 do
103 {
104 // random seed
105 for (size_t i = 0; i < seed.size(); ++i)
106 seed[i] = rng_.uniformReal(-PI, PI);
107
108 for (size_t i = 0; i < 10 && !good; ++i)
109 {
110 Eigen::Affine2d pose(goalPose_);
111 if (!fixedOrientation_)
112 {
113 // Sample the orientation if it does not matter
114 pose.rotate(rng_.uniformReal(-PI, PI));
115 }
116
117 if (manipulator_->FABRIK(soln, seed, pose))
118 {
119 // copy values into state
120 memcpy(st->as<PlanarManipulatorStateSpace::StateType>()->values, &soln[0],
121 soln.size() * sizeof(double));
122 // GoalLazySamples will check validity
123 good = true;
124 }
125 tries++;
126 }
127
128 } while (!good && tries < maxTries);
129
130 return good;
131 }
132
133 Eigen::Affine2d goalPose_;
134 const PlanarManipulator *manipulator_;
135 bool fixedOrientation_;
136 mutable ompl::RNG rng_;
137};
138
139#endif
virtual double distanceGoal(const ompl::base::State *st) const
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition of a goal region that can be sampled, but the sampling process can be slow....
double * values
The value of the actual vector in Rn
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66