tolerances.hpp

// Copyright 2013 PAL Robotics S.L.
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#ifndef JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
#define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 
#include <cassert>
#include <cmath>
#include <string>
#include <vector>
 
#include "control_msgs/action/follow_joint_trajectory.hpp"
 
#include "rclcpp/node.hpp"
 
namespace joint_trajectory_controller
{
struct StateTolerances
{
  double position = 0.0;
  double velocity = 0.0;
  double acceleration = 0.0;
};
 
struct SegmentTolerances
{
  explicit SegmentTolerances(size_t size = 0) : state_tolerance(size), goal_state_tolerance(size) {}
 
  std::vector<StateTolerances> state_tolerance;
 
  std::vector<StateTolerances> goal_state_tolerance;
 
  double goal_time_tolerance = 0.0;
};
 
SegmentTolerances get_segment_tolerances(
  const rclcpp::Node & node, const std::vector<std::string> & joint_names)
{
  const auto n_joints = joint_names.size();
  SegmentTolerances tolerances;
 
  // State and goal state tolerances
  double stopped_velocity_tolerance = 0.01;
  node.get_parameter_or<double>(
    "constraints.stopped_velocity_tolerance", stopped_velocity_tolerance,
    stopped_velocity_tolerance);
 
  tolerances.state_tolerance.resize(n_joints);
  tolerances.goal_state_tolerance.resize(n_joints);
  for (size_t i = 0; i < n_joints; ++i)
  {
    const std::string prefix = "constraints." + joint_names[i];
 
    node.get_parameter_or<double>(
      prefix + ".trajectory", tolerances.state_tolerance[i].position, 0.0);
    node.get_parameter_or<double>(
      prefix + ".goal", tolerances.goal_state_tolerance[i].position, 0.0);
 
    auto logger = rclcpp::get_logger("tolerance");
    RCLCPP_DEBUG(
      logger, "%s %f", (prefix + ".trajectory").c_str(), tolerances.state_tolerance[i].position);
    RCLCPP_DEBUG(
      logger, "%s %f", (prefix + ".goal").c_str(), tolerances.goal_state_tolerance[i].position);
 
    tolerances.goal_state_tolerance[i].velocity = stopped_velocity_tolerance;
  }
 
  // Goal time tolerance
  node.get_parameter_or<double>("constraints.goal_time", tolerances.goal_time_tolerance, 0.0);
 
  return tolerances;
}
 
inline bool check_state_tolerance_per_joint(
  const trajectory_msgs::msg::JointTrajectoryPoint & state_error, int joint_idx,
  const StateTolerances & state_tolerance, bool show_errors = false)
{
  using std::abs;
  const double error_position = state_error.positions[joint_idx];
  const double error_velocity =
    state_error.velocities.empty() ? 0.0 : state_error.velocities[joint_idx];
  const double error_acceleration =
    state_error.accelerations.empty() ? 0.0 : state_error.accelerations[joint_idx];
 
  const bool is_valid =
    !(state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position) &&
    !(state_tolerance.velocity > 0.0 && abs(error_velocity) > state_tolerance.velocity) &&
    !(state_tolerance.acceleration > 0.0 && abs(error_acceleration) > state_tolerance.acceleration);
 
  if (is_valid)
  {
    return true;
  }
 
  if (show_errors)
  {
    const auto logger = rclcpp::get_logger("tolerances");
    RCLCPP_ERROR(logger, "Path state tolerances failed:");
 
    if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
    {
      RCLCPP_ERROR(
        logger, "Position Error: %f, Position Tolerance: %f", error_position,
        state_tolerance.position);
    }
    if (state_tolerance.velocity > 0.0 && abs(error_velocity) > state_tolerance.velocity)
    {
      RCLCPP_ERROR(
        logger, "Velocity Error: %f, Velocity Tolerance: %f", error_velocity,
        state_tolerance.velocity);
    }
    if (
      state_tolerance.acceleration > 0.0 && abs(error_acceleration) > state_tolerance.acceleration)
    {
      RCLCPP_ERROR(
        logger, "Acceleration Error: %f, Acceleration Tolerance: %f", error_acceleration,
        state_tolerance.acceleration);
    }
  }
  return false;
}
 
}  // namespace joint_trajectory_controller
 
#endif  // JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_