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Use the full time available when solution callback fails #21

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Use the full time available when solution callback fails #21

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164 changes: 86 additions & 78 deletions src/kinematics_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -509,95 +509,103 @@ struct BioIKKinematicsPlugin : kinematics::KinematicsBase {
}
}

{
BLOCKPROFILER("ik init");
ik->initialize(problem);
}
while (std::chrono::system_clock::now() < problem.timeout) {
{
BLOCKPROFILER("ik init");
ik->initialize(problem);
}

// run ik solver
{
BLOCKPROFILER("ik_solve");
ik->solve();
}
// run ik solver
{
BLOCKPROFILER("ik_solve");
ik->solve();
}

// get solution
state = ik->getSolution();

// wrap angles
for (auto ivar : problem.active_variables) {
auto v = state[ivar];
if (robot_info.isRevolute(ivar) &&
robot_model_->getMimicJointModels().empty()) {
auto r = problem.initial_guess[ivar];
auto lo = robot_info.getMin(ivar);
auto hi = robot_info.getMax(ivar);

// move close to initial guess
if (r < v - M_PI || r > v + M_PI) {
v -= r;
v /= (2 * M_PI);
v += 0.5;
v -= std::floor(v);
v -= 0.5;
v *= (2 * M_PI);
v += r;
// get solution
state = ik->getSolution();

// wrap angles
for (auto ivar : problem.active_variables) {
auto v = state[ivar];
if (robot_info.isRevolute(ivar) &&
robot_model_->getMimicJointModels().empty()) {
auto r = problem.initial_guess[ivar];
auto lo = robot_info.getMin(ivar);
auto hi = robot_info.getMax(ivar);

// move close to initial guess
if (r < v - M_PI || r > v + M_PI) {
v -= r;
v /= (2 * M_PI);
v += 0.5;
v -= std::floor(v);
v -= 0.5;
v *= (2 * M_PI);
v += r;
}

// wrap at joint limits
if (v > hi)
v -= std::ceil(std::max(0.0, v - hi) / (2 * M_PI)) * (2 * M_PI);
if (v < lo)
v += std::ceil(std::max(0.0, lo - v) / (2 * M_PI)) * (2 * M_PI);

// clamp at edges
if (v < lo)
v = lo;
if (v > hi)
v = hi;
}

// wrap at joint limits
if (v > hi)
v -= std::ceil(std::max(0.0, v - hi) / (2 * M_PI)) * (2 * M_PI);
if (v < lo)
v += std::ceil(std::max(0.0, lo - v) / (2 * M_PI)) * (2 * M_PI);

// clamp at edges
if (v < lo)
v = lo;
if (v > hi)
v = hi;
state[ivar] = v;
}
state[ivar] = v;
}

// wrap angles
robot_model_->enforcePositionBounds(state.data());
// wrap angles
robot_model_->enforcePositionBounds(state.data());

// map result to jointgroup variables
{
solution.clear();
for (auto &joint_name : getJointNames()) {
auto *joint_model = robot_model_->getJointModel(joint_name);
if (!joint_model)
continue;
for (size_t vi = 0; vi < joint_model->getVariableCount(); vi++)
solution.push_back(
state.at(joint_model->getFirstVariableIndex() + vi));
// map result to jointgroup variables
{
solution.clear();
for (auto &joint_name : getJointNames()) {
auto *joint_model = robot_model_->getJointModel(joint_name);
if (!joint_model)
continue;
for (size_t vi = 0; vi < joint_model->getVariableCount(); vi++)
solution.push_back(
state.at(joint_model->getFirstVariableIndex() + vi));
}
}
}

// set solution fitness
if (bio_ik_options) {
bio_ik_options->solution_fitness = ik->getSolutionFitness();
}
// set solution fitness
if (bio_ik_options) {
bio_ik_options->solution_fitness = ik->getSolutionFitness();
}

// return an error if an accurate solution was requested, but no accurate
// solution was found
if (!ik->getSuccess() && !options.return_approximate_solution) {
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
// return an error if an accurate solution was requested, but no accurate
// solution was found
if (!ik->getSuccess() && !options.return_approximate_solution) {
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}

// callback?
if (solution_callback) {
// run callback
solution_callback(ik_poses.front(), solution, error_code);

// return success if callback has accepted the solution
return error_code.val == error_code.SUCCESS;
} else {
// return success
error_code.val = error_code.SUCCESS;
return true;
// callback?
if (solution_callback) {
// run callback
solution_callback(ik_poses.front(), solution, error_code);

// return success if callback has accepted the solution
if (error_code.val == error_code.SUCCESS) {
return true;
} else {
robot_model_->getVariableRandomPositions(temp_state->getRandomNumberGenerator(), state);
problem.initial_guess = state;
}
} else {
// return success
error_code.val = error_code.SUCCESS;
return true;
}
}
return false;
}

virtual bool supportsGroup(const moveit::core::JointModelGroup *jmg,
Expand Down