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Fix Cartesian interpolation #3020

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merged 3 commits into from
Oct 14, 2024
+13 −16
Merged

Fix Cartesian interpolation #3020

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656f6e6
Reduce code duplication
rhaschke Oct 6, 2024
f460de2
Fix Cartesian interpolation with multiple waypoints
rhaschke Oct 6, 2024
f350174
Fix clang-tidy warnings
rhaschke Oct 13, 2024
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29 changes: 13 additions & 16 deletions moveit_core/robot_state/src/cartesian_interpolator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -285,23 +285,22 @@ CartesianInterpolator::Percentage CartesianInterpolator::computeCartesianPath(
double wp_percentage_solved =
computeCartesianPath(start_state, group, waypoint_traj, link, waypoints[i], global_reference_frame, max_step,
precision, validCallback, options, cost_function, link_offset);

std::vector<RobotStatePtr>::iterator start = waypoint_traj.begin();
if (i > 0 && !waypoint_traj.empty())
std::advance(start, 1);
traj.insert(traj.end(), start, waypoint_traj.end());

if (fabs(wp_percentage_solved - 1.0) < std::numeric_limits<double>::epsilon())
{
percentage_solved = static_cast<double>(i + 1) / static_cast<double>(waypoints.size());
std::vector<RobotStatePtr>::iterator start = waypoint_traj.begin();
if (i > 0 && !waypoint_traj.empty())
std::advance(start, 1);
traj.insert(traj.end(), start, waypoint_traj.end());
}
else
{
percentage_solved += wp_percentage_solved / static_cast<double>(waypoints.size());
std::vector<RobotStatePtr>::iterator start = waypoint_traj.begin();
if (i > 0 && !waypoint_traj.empty())
std::advance(start, 1);
traj.insert(traj.end(), start, waypoint_traj.end());
break;
}
start_state = traj.back().get();
}

return percentage_solved;
Expand Down Expand Up @@ -490,21 +489,19 @@ CartesianInterpolator::Percentage CartesianInterpolator::computeCartesianPath(
computeCartesianPath(start_state, group, waypoint_path, link, waypoints[i], global_reference_frame, max_step,
NO_JOINT_SPACE_JUMP_TEST, validCallback, options, cost_function, link_offset);
#pragma GCC diagnostic pop

std::vector<RobotStatePtr>::iterator start = waypoint_path.begin();
if (i > 0 && !waypoint_path.empty())
std::advance(start, 1);
path.insert(path.end(), start, waypoint_path.end());

if (fabs(wp_percentage_solved - 1.0) < std::numeric_limits<double>::epsilon())
{
percentage_solved = static_cast<double>((i + 1)) / static_cast<double>(waypoints.size());
std::vector<RobotStatePtr>::iterator start = waypoint_path.begin();
if (i > 0 && !waypoint_path.empty())
std::advance(start, 1);
path.insert(path.end(), start, waypoint_path.end());
}
else
{
percentage_solved += wp_percentage_solved / static_cast<double>(waypoints.size());
std::vector<RobotStatePtr>::iterator start = waypoint_path.begin();
if (i > 0 && !waypoint_path.empty())
std::advance(start, 1);
path.insert(path.end(), start, waypoint_path.end());
break;
}
}
Expand Down
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