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Do not add joint waypoint to fixed indices if not constrained #427

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Do not add joint waypoint to fixed indices if not constrained #427

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45bc2c7
Add cartesian waypoints to fixed indices
rjoomen Dec 14, 2023
eb94878
Add isFixed...() methods to plan profiles
rjoomen Dec 15, 2023
3373198
clang-format
rjoomen Dec 15, 2023
5cf4ff3
Removed fixed cartesian logic
rjoomen Jan 8, 2024
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2 changes: 2 additions & 0 deletions .../trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ class TrajOptDefaultPlanProfile : public TrajOptPlanProfile
const std::vector<std::string>& active_links,
int index) const override;

bool isFixedJoint() const override;

tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const override;

protected:
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2 changes: 2 additions & 0 deletions ...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_profile.h
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Expand Up @@ -71,6 +71,8 @@ class TrajOptPlanProfile
const std::vector<std::string>& active_links,
int index) const = 0;

virtual bool isFixedJoint() const = 0;

virtual tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const = 0;
};

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7 changes: 7 additions & 0 deletions tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
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Expand Up @@ -280,6 +280,13 @@ void TrajOptDefaultPlanProfile::addConstraintErrorFunctions(trajopt::ProblemCons
}
}

bool TrajOptDefaultPlanProfile::isFixedJoint() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == trajopt::TermType::TT_CNT) &&
(abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
}

tinyxml2::XMLElement* TrajOptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& doc) const
{
tinyxml2::XMLElement* xml_planner = doc.NewElement("Planner");
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2 changes: 1 addition & 1 deletion tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp
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Expand Up @@ -300,7 +300,7 @@ TrajOptMotionPlanner::createProblem(const PlannerRequest& request) const
cur_plan_profile->apply(*pci, jwp, move_instruction, composite_mi, active_links, i);

// Add to fixed indices
if (!jwp.isToleranced()) /** @todo Should not make fixed if term_type is cost */
if (!jwp.isToleranced() && cur_plan_profile->isFixedJoint())
fixed_steps.push_back(i);
}

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2 changes: 2 additions & 0 deletions ...lude/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h
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Expand Up @@ -64,6 +64,8 @@ class TrajOptIfoptDefaultPlanProfile : public TrajOptIfoptPlanProfile
const std::vector<std::string>& active_links,
int index) const override;

bool isFixedJoint() const override;

tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const override;
};
} // namespace tesseract_planning
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2 changes: 2 additions & 0 deletions ...opt_ifopt/include/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h
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Expand Up @@ -73,6 +73,8 @@ class TrajOptIfoptPlanProfile
const std::vector<std::string>& active_links,
int index) const = 0;

virtual bool isFixedJoint() const = 0;

virtual tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const = 0;
};

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7 changes: 7 additions & 0 deletions tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_default_plan_profile.cpp
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Expand Up @@ -127,6 +127,13 @@ void TrajOptIfoptDefaultPlanProfile::apply(TrajOptIfoptProblem& problem,
}
}

bool TrajOptIfoptDefaultPlanProfile::isFixedJoint() const
{
// If the term type is constraint and all coefficients are non-zero
return (term_type == TrajOptIfoptTermType::CONSTRAINT) &&
(abs(joint_coeff.array()) >= std::numeric_limits<double>::epsilon()).all();
Comment on lines +133 to +134
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@Levi-Armstrong Levi-Armstrong Dec 31, 2024

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@rjoomen Why do all coeff have to be non zero?

}

tinyxml2::XMLElement* TrajOptIfoptDefaultPlanProfile::toXML(tinyxml2::XMLDocument& /*doc*/) const
{
throw std::runtime_error("TrajOptIfoptDefaultPlanProfile::toXML is not implemented!");
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2 changes: 1 addition & 1 deletion tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
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Expand Up @@ -320,7 +320,7 @@ std::shared_ptr<TrajOptIfoptProblem> TrajOptIfoptMotionPlanner::createProblem(co
cur_plan_profile->apply(*problem, jwp, move_instruction, composite_mi, active_links, i);

// Add to fixed indices
if (!jwp.isToleranced()) /** @todo Should not make fixed if term_type is cost */
if (!jwp.isToleranced() && cur_plan_profile->isFixedJoint())
fixed_steps.push_back(i);
}
}
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