chompTrajectory.hpp

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#ifndef CHOMP_TRAJECTORY_H_
#define CHOMP_TRAJECTORY_H_

//#include <trajectory_msgs/JointTrajectory.h>

//#include <chomp_motion_planner/chomp_robot_model.h>
#include "API/Device/robot.hpp"
#include "API/Trajectory/trajectory.hpp"

#include "chompUtils.hpp"
#include "chompPlanningGroup.hpp"

#include <vector>
//#include <kdl/jntarray.hpp>

#include <Eigen/Core>

//namespace chomp
//{

class ChompTrajectory
{
public:
  ChompTrajectory() {}
  ChompTrajectory(const API::Trajectory& T, int diff_rule_length, const ChompPlanningGroup& active_joints_);
  
  // ChompTrajectory(const ChompRobotModel* robot_model, int num_points, double discretization);
  
  ChompTrajectory(const ChompTrajectory& source_traj, int diff_rule_length);
  
  //  ChompTrajectory(const ChompRobotModel* robot_model,
  //                  const ChompRobotModel::ChompPlanningGroup* planning_group, 
  //                  const trajectory_msgs::JointTrajectory& traj);
  
  virtual ~ChompTrajectory();
  
  double& operator() (int traj_point, int joint);
  
  double operator() (int traj_point, int joint) const;
  
  Eigen::MatrixXd::RowXpr getTrajectoryPoint(int traj_point);
  
  //void getTrajectoryPointKDL(int traj_point, KDL::JntArray& kdl_jnt_array) const;
  void getTrajectoryPointP3d(int traj_point, Eigen::VectorXd& jnt_array) const;
  
  Eigen::MatrixXd::ColXpr getJointTrajectory(int joint);
  
  //void overwriteTrajectory(const trajectory_msgs::JointTrajectory& traj);
  
  int getNumPoints() const;
  
  int getNumFreePoints() const;
  
  int getNumJoints() const;
  
  double getDiscretization() const;
  
  void fillInMinJerk();
  
  void setStartEndIndex(int start_index, int end_index);
  
  int getStartIndex() const;
  
  int getEndIndex() const;
  
  Eigen::MatrixXd& getTrajectory();
  
  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic>  getFreeTrajectoryBlock();
  
  Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> getFreeJointTrajectoryBlock(int joint);
  
  void updateFromGroupTrajectory(const ChompTrajectory& group_trajectory);
  
  int getFullTrajectoryIndex(int i) const;
  
  template <typename Derived>
  void getJointVelocities(int traj_point, Eigen::MatrixBase<Derived>& velocities);
  
  double getDuration() const;
  
  // Returns the Move3d robot
  Robot* getRobot() { return robot_model_; }
  
  // prints the big matrix
  void print();
  
private:
  
  void init();                                          
  Robot* robot_model_;                             
  //  const ChompRobotModel* robot_model_;                  /**< Robot Model */
  //  const ChompRobotModel::ChompPlanningGroup* planning_group_;    /**< Planning group that this trajectory corresponds to, if any */
  int num_points_;                                      
  int num_joints_;                                      
  double discretization_;                               
  double duration_;                                     
  Eigen::MatrixXd trajectory_;                          
  int start_index_;                                     
  int end_index_;                                       
  std::vector<int> full_trajectory_index_;              
};


inline double& ChompTrajectory::operator() (int traj_point, int joint)
{
  return trajectory_(traj_point, joint);
}

inline double ChompTrajectory::operator() (int traj_point, int joint) const
{
  return trajectory_(traj_point, joint);
}

inline Eigen::MatrixXd::RowXpr ChompTrajectory::getTrajectoryPoint(int traj_point)
{
  return trajectory_.row(traj_point);
}

inline Eigen::MatrixXd::ColXpr ChompTrajectory::getJointTrajectory(int joint)
{
  return trajectory_.col(joint);
}

inline int ChompTrajectory::getNumPoints() const
{
  return num_points_;
}

inline int ChompTrajectory::getNumFreePoints() const
{
  return (end_index_ - start_index_)+1;
}

inline int ChompTrajectory::getNumJoints() const
{
  return num_joints_;
}

inline double ChompTrajectory::getDiscretization() const
{
  return discretization_;
}

inline void ChompTrajectory::setStartEndIndex(int start_index, int end_index)
{
  start_index_ = start_index;
  end_index_ = end_index;
}

inline int ChompTrajectory::getStartIndex() const
{
  return start_index_;
}

inline int ChompTrajectory::getEndIndex() const
{
  return end_index_;
}

inline Eigen::MatrixXd& ChompTrajectory::getTrajectory()
{
  return trajectory_;
}

inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> ChompTrajectory::getFreeTrajectoryBlock()
{
//  std::cout << "getNumFreePoints() = " << getNumFreePoints() << std::endl;
//  std::cout << "getNumJoints() = " << getNumJoints()  << std::endl;
  
  return trajectory_.block(start_index_, 0, getNumFreePoints(), getNumJoints());
}

inline Eigen::Block<Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic> ChompTrajectory::getFreeJointTrajectoryBlock(int joint)
{
  return trajectory_.block(start_index_, joint, getNumFreePoints(), 1);
}

//inline void ChompTrajectory::getTrajectoryPointKDL(int traj_point, KDL::JntArray& kdl_jnt_array) const
//{
//  for (int i=0; i<num_joints_; i++)
//    kdl_jnt_array(i) = trajectory_(traj_point,i);
//}

inline int ChompTrajectory::getFullTrajectoryIndex(int i) const
{
  return full_trajectory_index_[i];
}

template <typename Derived>
void ChompTrajectory::getJointVelocities(int traj_point, Eigen::MatrixBase<Derived>& velocities)
{
  velocities.setZero();
  double invTime = 1.0 / discretization_;
  
  for (int k=-DIFF_RULE_LENGTH/2; k<=DIFF_RULE_LENGTH/2; k++)
  {
    velocities += (invTime * DIFF_RULES[0][k+DIFF_RULE_LENGTH/2]) * trajectory_.row(traj_point+k).transpose();
  }
}

inline double ChompTrajectory::getDuration() const {
  return duration_;
}

//}

#endif /* CHOMP_TRAJECTORY_H_ */