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Move PlanningScene helper functions to new cpp file
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moveit_core/planning_scene/include/moveit/planning_scene/utilities.hpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2023, 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. | ||
| *********************************************************************/ | ||
|
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| /* Author: Andy Zelenak | ||
| Description: Helper functions related to the Planning Scene | ||
| */ | ||
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| #pragma once | ||
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| #include <moveit/robot_model/robot_model.h> | ||
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| namespace planning_scene | ||
| { | ||
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| /** | ||
| * Helper function to create a RobotModel from a urdf/srdf. | ||
| * @param urdf_model The universal robot description | ||
| * @param srdf_model The semantic robot description | ||
| * @return nullptr on failure | ||
| */ | ||
| moveit::core::RobotModelPtr createRobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model, | ||
| const srdf::ModelConstSharedPtr& srdf_model); | ||
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| /** | ||
| * convert Pose msg to Eigen::Isometry, normalizing the quaternion part if necessary. | ||
| * @param msg Input message | ||
| * @param out Output Eigen transform | ||
| */ | ||
| void poseMsgToEigen(const geometry_msgs::msg::Pose& msg, Eigen::Isometry3d& out); | ||
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| /** \brief Read a pose from text */ | ||
| bool readPoseFromText(std::istream& in, Eigen::Isometry3d& pose); | ||
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| /** \brief Write a pose to text */ | ||
| void writePoseToText(std::ostream& out, const Eigen::Isometry3d& pose); | ||
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| } // namespace planning_scene |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,97 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2023, 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. | ||
| *********************************************************************/ | ||
|
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| /* Author: Andy Zelenak */ | ||
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| #include "moveit/planning_scene/utilities.hpp" | ||
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| namespace planning_scene | ||
| { | ||
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| namespace | ||
| { | ||
| static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_planning_scene.utilities"); | ||
| } | ||
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| moveit::core::RobotModelPtr createRobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model, | ||
| const srdf::ModelConstSharedPtr& srdf_model) | ||
| { | ||
| auto robot_model = std::make_shared<moveit::core::RobotModel>(urdf_model, srdf_model); | ||
| if (!robot_model || !robot_model->getRootJoint()) | ||
| return moveit::core::RobotModelPtr(); | ||
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| return robot_model; | ||
| } | ||
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| void poseMsgToEigen(const geometry_msgs::msg::Pose& msg, Eigen::Isometry3d& out) | ||
| { | ||
| Eigen::Translation3d translation(msg.position.x, msg.position.y, msg.position.z); | ||
| Eigen::Quaterniond quaternion(msg.orientation.w, msg.orientation.x, msg.orientation.y, msg.orientation.z); | ||
| if ((quaternion.x() == 0) && (quaternion.y() == 0) && (quaternion.z() == 0) && (quaternion.w() == 0)) | ||
| { | ||
| RCLCPP_WARN(LOGGER, "Empty quaternion found in pose message. Setting to neutral orientation."); | ||
| quaternion.setIdentity(); | ||
| } | ||
| else | ||
| { | ||
| quaternion.normalize(); | ||
| } | ||
| out = translation * quaternion; | ||
| } | ||
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| bool readPoseFromText(std::istream& in, Eigen::Isometry3d& pose) | ||
| { | ||
| double x, y, z, rx, ry, rz, rw; | ||
| if (!(in >> x >> y >> z)) | ||
| { | ||
| RCLCPP_ERROR(LOGGER, "Improperly formatted translation in scene geometry file"); | ||
| return false; | ||
| } | ||
| if (!(in >> rx >> ry >> rz >> rw)) | ||
| { | ||
| RCLCPP_ERROR(LOGGER, "Improperly formatted rotation in scene geometry file"); | ||
| return false; | ||
| } | ||
| pose = Eigen::Translation3d(x, y, z) * Eigen::Quaterniond(rw, rx, ry, rz); | ||
| return true; | ||
| } | ||
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| void writePoseToText(std::ostream& out, const Eigen::Isometry3d& pose) | ||
| { | ||
| out << pose.translation().x() << ' ' << pose.translation().y() << ' ' << pose.translation().z() << '\n'; | ||
| Eigen::Quaterniond r(pose.linear()); | ||
| out << r.x() << ' ' << r.y() << ' ' << r.z() << ' ' << r.w() << '\n'; | ||
| } | ||
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| } // namespace planning_scene |