Feature: New POLYLINE command in Pilz planner for space trajectory generation

moveit_planners/pilz_industrial_motion_planner/CMakeLists.txt

@@ -127,6 +127,15 @@ ament_target_dependencies(planning_context_loader_circ
 target_link_libraries(planning_context_loader_circ planning_context_loader_base
                       joint_limits_common trajectory_generation_common)
 
+add_library(
+  planning_context_loader_free SHARED
+  src/planning_context_loader_free.cpp src/trajectory_generator_free.cpp
+  src/velocity_profile_atrap.cpp src/path_free_generator.cpp)
+ament_target_dependencies(planning_context_loader_free
+                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(planning_context_loader_free planning_context_loader_base
+                      joint_limits_common trajectory_generation_common)
+
 add_library(sequence_capability SHARED src/move_group_sequence_action.cpp
                                        src/move_group_sequence_service.cpp)
 ament_target_dependencies(sequence_capability ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -153,6 +162,7 @@ install(
           planning_context_loader_ptp
           planning_context_loader_lin
           planning_context_loader_circ
+          planning_context_loader_free
           command_list_manager
           sequence_capability
           trajectory_generation_common

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_free_generator.h

@@ -0,0 +1,50 @@
+
+/*********************************************************************
+ * All MoveIt 2 headers have been updated to use the .hpp extension.
+ *
+ * .h headers are now autogenerated via create_deprecated_headers.py,
+ * and will import the corresponding .hpp with a deprecation warning.
+ *
+ * imports via .h files may be removed in future releases, so please
+ * modify your imports to use the corresponding .hpp imports.
+ *
+ * See https://github.com/moveit/moveit2/pull/3113 for extra details.
+ *********************************************************************/
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+#pragma message(".h header is obsolete. Please use the .hpp header instead.")
+#include <pilz_industrial_motion_planner/path_free_generator.hpp>

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_free_generator.hpp

@@ -0,0 +1,99 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <kdl/path.hpp>
+#include <kdl/path_roundedcomposite.hpp>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <kdl/utilities/error.h>
+
+#include <memory>
+
+namespace pilz_industrial_motion_planner
+{
+/**
+ * @brief Generator class for KDL::Path_RoundedComposite from different free path
+ * representations
+ */
+class PathFreeGenerator
+{
+public:
+  /**
+   * @brief set the path free from waypoints
+   *
+   */
+  static std::unique_ptr<KDL::Path> freeFromWaypoints(const KDL::Frame& start_pose,
+                                                      const std::vector<KDL::Frame>& waypoints,
+                                                      KDL::RotationalInterpolation* rot_interpo, double smoothness,
+                                                      double eqradius);
+
+  /**
+   * @brief compute the maximum rounding radius from KDL::Path_RoundedComosite
+   * @param waypoints_: waypoints defining the path
+   * @param smoothness: smoothness level [0..1] scaling the maximum blend radius
+   * @return maximum blend radius
+   */
+  static std::vector<KDL::Frame> filterWaypoints(const KDL::Frame& start_pose, const std::vector<KDL::Frame>& waypoints);
+  static double computeBlendRadius(const std::vector<KDL::Frame>& waypoints_, double smoothness);
+  static void checkConsecutiveColinearWaypoints(const KDL::Frame& p1, const KDL::Frame& p2, const KDL::Frame& p3);
+
+private:
+  PathFreeGenerator(){};  // no instantiation of this helper class!
+
+  static constexpr double MIN_SEGMENT_LENGTH{ 0.2e-3 };
+  static constexpr double MIN_SMOOTHNESS{ 0.01 };
+  static constexpr double MAX_SMOOTHNESS{ 0.99 };
+  static constexpr double MIN_COLINEAR_NORM{ 1e-9 };
+};
+
+class ErrorMotionPlanningColinearConsicutiveWaypoints : public KDL::Error_MotionPlanning
+{
+public:
+  const char* Description() const override
+  {
+    return "Three collinear consecutive waypoints."
+           " A Free Path cannot be created.";
+  }
+  int GetType() const override
+  {
+    return ERROR_CODE_COLINEAR_CONSECUTIVE_WAYPOINTS;
+  }  // LCOV_EXCL_LINE
+
+private:
+  static constexpr int ERROR_CODE_COLINEAR_CONSECUTIVE_WAYPOINTS{ 3104 };
+};
+
+}  // namespace pilz_industrial_motion_planner

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_free.h

@@ -0,0 +1,50 @@
+
+/*********************************************************************
+ * All MoveIt 2 headers have been updated to use the .hpp extension.
+ *
+ * .h headers are now autogenerated via create_deprecated_headers.py,
+ * and will import the corresponding .hpp with a deprecation warning.
+ *
+ * imports via .h files may be removed in future releases, so please
+ * modify your imports to use the corresponding .hpp imports.
+ *
+ * See https://github.com/moveit/moveit2/pull/3113 for extra details.
+ *********************************************************************/
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+#pragma message(".h header is obsolete. Please use the .hpp header instead.")
+#include <pilz_industrial_motion_planner/planning_context_free.hpp>

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_free.hpp

@@ -0,0 +1,68 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+
+#include <pilz_industrial_motion_planner/limits_container.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <moveit/planning_interface/planning_interface.hpp>
+#include <moveit/planning_interface/planning_response.hpp>
+
+#include <atomic>
+#include <thread>
+
+#include <pilz_industrial_motion_planner/planning_context_base.hpp>
+#include <pilz_industrial_motion_planner/trajectory_generator_free.hpp>
+
+namespace pilz_industrial_motion_planner
+{
+MOVEIT_CLASS_FORWARD(PlanningContext);
+
+/**
+ * @brief PlanningContext for obtaining Free trajectories
+ */
+class PlanningContextFree : public pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorFree>
+{
+public:
+  PlanningContextFree(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
+                      const pilz_industrial_motion_planner::LimitsContainer& limits)
+    : pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorFree>(name, group, model, limits)
+  {
+  }
+};
+
+}  // namespace pilz_industrial_motion_planner

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/planning_context_loader_free.h

@@ -0,0 +1,50 @@
+
+/*********************************************************************
+ * All MoveIt 2 headers have been updated to use the .hpp extension.
+ *
+ * .h headers are now autogenerated via create_deprecated_headers.py,
+ * and will import the corresponding .hpp with a deprecation warning.
+ *
+ * imports via .h files may be removed in future releases, so please
+ * modify your imports to use the corresponding .hpp imports.
+ *
+ * See https://github.com/moveit/moveit2/pull/3113 for extra details.
+ *********************************************************************/
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 Pilz GmbH & Co. KG
+ *  Copyright (c) 2025 Aiman Haidar
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#pragma once
+#pragma message(".h header is obsolete. Please use the .hpp header instead.")
+#include <pilz_industrial_motion_planner/planning_context_loader_free.hpp>