1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166

use std::{path::Path, sync::Arc};

use arci::{Error, JointTrajectoryClient, TrajectoryPoint, WaitFuture};
use openrr_planner::{create_joint_path_planner, JointPathPlannerConfig};

// TODO: speed limit
fn trajectory_from_positions(
    positions: &[Vec<f64>],
    total_duration: std::time::Duration,
) -> Vec<TrajectoryPoint> {
    let num_points = positions.len();
    let mut traj = vec![];
    for (i, pos) in positions.iter().enumerate() {
        let time_rate: f64 = ((i + 1) as f64) / (num_points as f64);
        traj.push(TrajectoryPoint::new(
            pos.clone(),
            total_duration.mul_f64(time_rate),
        ));
    }
    traj
}

pub struct CollisionAvoidanceClient<T>
where
    T: JointTrajectoryClient,
{
    pub client: T,
    pub planner: openrr_planner::JointPathPlanner<f64>,
}

impl<T> CollisionAvoidanceClient<T>
where
    T: JointTrajectoryClient,
{
    pub fn new(client: T, planner: openrr_planner::JointPathPlanner<f64>) -> Self {
        Self { client, planner }
    }
}

impl<T> JointTrajectoryClient for CollisionAvoidanceClient<T>
where
    T: JointTrajectoryClient,
{
    fn joint_names(&self) -> Vec<String> {
        self.client.joint_names()
    }

    fn current_joint_positions(&self) -> Result<Vec<f64>, Error> {
        self.client.current_joint_positions()
    }

    fn send_joint_positions(
        &self,
        positions: Vec<f64>,
        duration: std::time::Duration,
    ) -> Result<WaitFuture, Error> {
        let traj = self
            .planner
            .plan_avoid_self_collision(
                &self.joint_names(),
                &self.current_joint_positions()?,
                &positions,
            )
            .map_err(|e| Error::Other(e.into()))?;
        self.client
            .send_joint_trajectory(trajectory_from_positions(&traj, duration))
    }

    fn send_joint_trajectory(&self, trajectory: Vec<TrajectoryPoint>) -> Result<WaitFuture, Error> {
        if trajectory.is_empty() {
            return Ok(WaitFuture::ready());
        }
        let positions = self
            .planner
            .plan_avoid_self_collision(
                &self.joint_names(),
                &self.current_joint_positions()?,
                &trajectory[0].positions,
            )
            .map_err(|e| Error::Other(e.into()))?;
        let mut trajs = trajectory_from_positions(&positions, trajectory[0].time_from_start);

        for i in 1..trajectory.len() {
            let positions = self
                .planner
                .plan_avoid_self_collision(
                    &self.joint_names(),
                    &trajectory[i - 1].positions,
                    &trajectory[i].positions,
                )
                .map_err(|e| Error::Other(e.into()))?;
            trajs.append(&mut trajectory_from_positions(
                &positions,
                trajectory[i].time_from_start,
            ));
        }
        self.client.send_joint_trajectory(trajs)
    }
}

pub fn create_collision_avoidance_client<P: AsRef<Path>>(
    urdf_path: P,
    self_collision_check_pairs: Vec<(String, String)>,
    joint_path_planner_config: &JointPathPlannerConfig,
    client: Arc<dyn JointTrajectoryClient>,
    reference_robot: Arc<k::Chain<f64>>,
) -> CollisionAvoidanceClient<Arc<dyn JointTrajectoryClient>> {
    let planner = create_joint_path_planner(
        urdf_path,
        self_collision_check_pairs,
        joint_path_planner_config,
        reference_robot,
    );

    CollisionAvoidanceClient::new(client, planner)
}

#[cfg(test)]
mod tests {
    use super::*;

    #[tokio::test]
    async fn test_create_collision_avoidance_client() {
        let urdf_path = Path::new("sample.urdf");
        let urdf_robot = urdf_rs::read_file(urdf_path).unwrap();
        let robot = Arc::new(k::Chain::<f64>::from(&urdf_robot));
        let client = arci::DummyJointTrajectoryClient::new(
            robot
                .iter_joints()
                .map(|joint| joint.name.clone())
                .collect(),
        );
        client
            .send_joint_positions(vec![0.0; 8], std::time::Duration::new(0, 0))
            .unwrap()
            .await
            .unwrap();

        let collision_avoidance_client = create_collision_avoidance_client(
            urdf_path,
            vec![("root".to_owned(), "l_shoulder_roll".to_owned())],
            &JointPathPlannerConfig::default(),
            Arc::new(client),
            robot,
        );

        assert_eq!(
            *collision_avoidance_client
                .current_joint_positions()
                .unwrap(),
            vec![0.0; 8]
        );

        // No collision case
        assert!(collision_avoidance_client
            .send_joint_positions(vec![0.0; 8], std::time::Duration::new(1, 0),)
            .is_ok());
        // Collision occurs in the reference position
        assert!(collision_avoidance_client
            .send_joint_positions(
                vec![1.57, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
                std::time::Duration::new(1, 0),
            )
            .is_err());
    }
}