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Fix issue with tolerance size #535

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Fix issue with tolerance size #535

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f9ba623
Fix issue with tolerance size
rjoomen Dec 2, 2024
2297b9e
Fix tolerance size
rjoomen Dec 3, 2024
4d4f3b7
Merge branch 'master' into fix_tolerance_sizes
rjoomen Dec 3, 2024
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21 changes: 12 additions & 9 deletions ...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_waypoint_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,15 +59,18 @@ struct CartesianWaypointConfig
* This is useful if you want to have a smaller tolerance for the cost than the constraint.*/
bool use_tolerance_override{ false };

/** @brief Distance below waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
* elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()) */
Eigen::Matrix<double, 6, 1> lower_tolerance{ Eigen::VectorXd::Zero(6) };
/** @brief Distance above waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
* elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle())*/
Eigen::Matrix<double, 6, 1> upper_tolerance{ Eigen::VectorXd::Zero(6) };

/** @brief coefficients corresponsing to dx, dy, dz, rx, ry, rz*/
Eigen::Matrix<double, 6, 1> coeff{ Eigen::VectorXd::Constant(6, 5) };
/** @brief Distance below waypoint that is allowed. Should be size = 6 or 1, if size = 1 the value is replicated.
* First 3 elements are dx, dy, dz. The last 3 elements are angle axis error allowed:
* (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()) */
Eigen::VectorXd lower_tolerance{ Eigen::VectorXd::Zero(6) };
/** @brief Distance above waypoint that is allowed. Should be size = 6 or 1, if size = 1 the value is replicated.
* First 3 elements are dx, dy, dz. The last 3 elements are angle axis error allowed:
* (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()) */
Eigen::VectorXd upper_tolerance{ Eigen::VectorXd::Zero(6) };

/** @brief coefficients corresponsing to dx, dy, dz, rx, ry, rz.
* Should be size = 6 or 1, if size = 1 the value is replicated. */
Eigen::VectorXd coeff{ Eigen::VectorXd::Constant(6, 5) };

tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const;
};
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19 changes: 17 additions & 2 deletions tesseract_motion_planners/trajopt/src/trajopt_utils.cpp
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Expand Up @@ -60,8 +60,23 @@ std::shared_ptr<trajopt::TermInfo> createCartesianWaypointTermInfo(int index,
pose_info->rot_coeffs = coeffs.tail<3>();
}

pose_info->lower_tolerance = lower_tolerance;
pose_info->upper_tolerance = upper_tolerance;
if (lower_tolerance.size() == 1)
{
pose_info->lower_tolerance = Eigen::Vector3d::Constant(lower_tolerance(0));
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}
else if (lower_tolerance.size() == 6)
{
pose_info->lower_tolerance = lower_tolerance;
}

if (upper_tolerance.size() == 1)
{
pose_info->upper_tolerance = Eigen::Vector3d::Constant(upper_tolerance(0));
}
else if (upper_tolerance.size() == 6)
{
pose_info->upper_tolerance = upper_tolerance;
}

return pose_info;
}
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