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Add optional output to task which produce contact results #507

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Aug 18, 2024
Merged

Add optional output to task which produce contact results #507

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9 changes: 7 additions & 2 deletions tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -240,11 +240,16 @@ class TaskComposerNode
* @param port The port associated with the key
* @param data_storage The data storage to assign data to
* @param data The data to store
* @param required Indicate if required port
*/
void setData(TaskComposerDataStorage& data_storage, const std::string& port, tesseract_common::AnyPoly data) const;
void setData(TaskComposerDataStorage& data_storage,
const std::string& port,
const std::vector<tesseract_common::AnyPoly>& data) const;
tesseract_common::AnyPoly data,
bool required = true) const;
void setData(TaskComposerDataStorage& data_storage,
const std::string& port,
const std::vector<tesseract_common::AnyPoly>& data,
bool required = true) const;
};

} // namespace tesseract_planning
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20 changes: 16 additions & 4 deletions tesseract_task_composer/core/src/task_composer_node.cpp
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Expand Up @@ -577,23 +577,35 @@ std::vector<tesseract_common::AnyPoly> TaskComposerNode::getData(const TaskCompo

void TaskComposerNode::setData(TaskComposerDataStorage& data_storage,
const std::string& port,
tesseract_common::AnyPoly data) const
tesseract_common::AnyPoly data,
bool required) const
{
auto it = output_keys_.data().find(port);
if (it == output_keys_.data().end())
throw std::runtime_error(name_ + ", output key does not exist for the provided name: " + port);
{
if (required)
throw std::runtime_error(name_ + ", output key does not exist for the provided name: " + port);

return;
}

const auto& key = std::get<std::string>(it->second);
data_storage.setData(key, std::move(data));
}

void TaskComposerNode::setData(TaskComposerDataStorage& data_storage,
const std::string& port,
const std::vector<tesseract_common::AnyPoly>& data) const
const std::vector<tesseract_common::AnyPoly>& data,
bool required) const
{
auto it = output_keys_.data().find(port);
if (it == output_keys_.data().end())
throw std::runtime_error(name_ + ", output key does not exist for the provided name: " + port);
{
if (required)
throw std::runtime_error(name_ + ", output key does not exist for the provided name: " + port);

return;
}

const auto& vs = std::get<std::vector<std::string>>(it->second);
if (vs.size() != data.size())
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1 change: 1 addition & 0 deletions ...r/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
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Expand Up @@ -53,6 +53,7 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ContinuousContactCheckTask :
// Optional
static const std::string INPUT_MANIP_INFO_PORT;
static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
static const std::string OUTPUT_CONTACT_RESULTS_PORT;

using Ptr = std::shared_ptr<ContinuousContactCheckTask>;
using ConstPtr = std::shared_ptr<const ContinuousContactCheckTask>;
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1 change: 1 addition & 0 deletions ...ser/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
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Expand Up @@ -53,6 +53,7 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT DiscreteContactCheckTask : p
// Optional
static const std::string INPUT_MANIP_INFO_PORT;
static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
static const std::string OUTPUT_CONTACT_RESULTS_PORT;

using Ptr = std::shared_ptr<DiscreteContactCheckTask>;
using ConstPtr = std::shared_ptr<const DiscreteContactCheckTask>;
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1 change: 1 addition & 0 deletions ...mposer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
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Expand Up @@ -62,6 +62,7 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateCollisionTask : publ
// Optional
static const std::string INPUT_MANIP_INFO_PORT;
static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
static const std::string OUTPUT_CONTACT_RESULTS_PORT;

using Ptr = std::shared_ptr<FixStateCollisionTask>;
using ConstPtr = std::shared_ptr<const FixStateCollisionTask>;
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5 changes: 5 additions & 0 deletions tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp
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Expand Up @@ -64,6 +64,7 @@ const std::string ContinuousContactCheckTask::INPUT_PROFILES_PORT = "profiles";
// Optional
const std::string ContinuousContactCheckTask::INPUT_MANIP_INFO_PORT = "manip_info";
const std::string ContinuousContactCheckTask::INPUT_COMPOSITE_PROFILE_REMAPPING_PORT = "composite_profile_remapping";
const std::string ContinuousContactCheckTask::OUTPUT_CONTACT_RESULTS_PORT = "contact_results";

ContinuousContactCheckTask::ContinuousContactCheckTask()
: TaskComposerTask("ContinuousContactCheckTask", ContinuousContactCheckTask::ports(), true)
Expand Down Expand Up @@ -99,6 +100,8 @@ TaskComposerNodePorts ContinuousContactCheckTask::ports()

ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;
ports.output_optional[OUTPUT_CONTACT_RESULTS_PORT] = TaskComposerNodePorts::SINGLE;

return ports;
}

Expand Down Expand Up @@ -171,6 +174,8 @@ ContinuousContactCheckTask::runImpl(TaskComposerContext& context, OptionalTaskCo
contact_map.shrinkToFit();

info->data_storage.setData("contact_results", contacts);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contacts, false);

info->return_value = 0;
return info;
}
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5 changes: 5 additions & 0 deletions tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ const std::string DiscreteContactCheckTask::INPUT_PROFILES_PORT = "profiles";
// Optional
const std::string DiscreteContactCheckTask::INPUT_MANIP_INFO_PORT = "manip_info";
const std::string DiscreteContactCheckTask::INPUT_COMPOSITE_PROFILE_REMAPPING_PORT = "composite_profile_remapping";
const std::string DiscreteContactCheckTask::OUTPUT_CONTACT_RESULTS_PORT = "contact_results";

DiscreteContactCheckTask::DiscreteContactCheckTask()
: TaskComposerTask("DiscreteContactCheckTask", DiscreteContactCheckTask::ports(), true)
Expand Down Expand Up @@ -99,6 +100,8 @@ TaskComposerNodePorts DiscreteContactCheckTask::ports()

ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE;
ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;

ports.output_optional[OUTPUT_CONTACT_RESULTS_PORT] = TaskComposerNodePorts::SINGLE;
return ports;
}

Expand Down Expand Up @@ -167,6 +170,8 @@ std::unique_ptr<TaskComposerNodeInfo> DiscreteContactCheckTask::runImpl(TaskComp
contact_map.shrinkToFit();

info->data_storage.setData("contact_results", contacts);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contacts, false);

return info;
}

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9 changes: 9 additions & 0 deletions tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ const std::string FixStateCollisionTask::INPUT_PROFILES_PORT = "profiles";
// Optional
const std::string FixStateCollisionTask::INPUT_MANIP_INFO_PORT = "manip_info";
const std::string FixStateCollisionTask::INPUT_COMPOSITE_PROFILE_REMAPPING_PORT = "composite_profile_remapping";
const std::string FixStateCollisionTask::OUTPUT_CONTACT_RESULTS_PORT = "contact_results";

bool stateInCollision(const Eigen::Ref<const Eigen::VectorXd>& start_pos,
const tesseract_common::ManipulatorInfo& manip_info,
Expand Down Expand Up @@ -384,6 +385,7 @@ TaskComposerNodePorts FixStateCollisionTask::ports()
ports.input_optional[INPUT_COMPOSITE_PROFILE_REMAPPING_PORT] = TaskComposerNodePorts::SINGLE;

ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE;
ports.output_optional[OUTPUT_CONTACT_RESULTS_PORT] = TaskComposerNodePorts::SINGLE;

return ports;
}
Expand Down Expand Up @@ -461,6 +463,7 @@ std::unique_ptr<TaskComposerNodeInfo> FixStateCollisionTask::runImpl(TaskCompose

info->status_message = "Failed to correct state in collision";
info->data_storage.setData("contact_results", contact_results);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contact_results, false);
return info;
}
}
Expand Down Expand Up @@ -491,6 +494,8 @@ std::unique_ptr<TaskComposerNodeInfo> FixStateCollisionTask::runImpl(TaskCompose

info->status_message = "Failed to correct state in collision";
info->data_storage.setData("contact_results", contact_results);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contact_results, false);

return info;
}
}
Expand Down Expand Up @@ -558,6 +563,7 @@ std::unique_ptr<TaskComposerNodeInfo> FixStateCollisionTask::runImpl(TaskCompose

info->status_message = "Failed to correct state in collision";
info->data_storage.setData("contact_results", contact_results);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contact_results, false);
return info;
}
}
Expand Down Expand Up @@ -613,6 +619,7 @@ std::unique_ptr<TaskComposerNodeInfo> FixStateCollisionTask::runImpl(TaskCompose

info->status_message = "Failed to correct state in collision";
info->data_storage.setData("contact_results", contact_results);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contact_results, false);
return info;
}
}
Expand Down Expand Up @@ -670,6 +677,7 @@ std::unique_ptr<TaskComposerNodeInfo> FixStateCollisionTask::runImpl(TaskCompose

info->status_message = "Failed to correct state in collision";
info->data_storage.setData("contact_results", contact_results);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contact_results, false);
return info;
}
}
Expand Down Expand Up @@ -725,6 +733,7 @@ std::unique_ptr<TaskComposerNodeInfo> FixStateCollisionTask::runImpl(TaskCompose

info->status_message = "Failed to correct state in collision";
info->data_storage.setData("contact_results", contact_results);
setData(*context.data_storage, OUTPUT_CONTACT_RESULTS_PORT, contact_results, false);
return info;
}
}
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