Use MotionType in trajectory point interface

This removes code duplication

Author: urfeex

doc/architecture/trajectory_point_interface.rst

@@ -42,10 +42,10 @@ representations in 21 datafields. The data fields have the following meaning:
    0-5    trajectory point positions (floating point)
    6-11   trajectory point velocities (floating point)
    12-17  trajectory point accelerations (floating point)
-   18     trajectory point type (0: JOINT, 1: CARTESIAN, 2: JOINT_SPLINE)
+   18     trajectory point type (0: MOVEJ, 1: MOVEL, 51: SPLINE)
    19     trajectory point time (in seconds, floating point)
    20     depending on trajectory point type
 
-          - JOINT, CARTESIAN: point blend radius (in meters, floating point)
-          - JOINT_SPLINE: spline type (1: CUBIC, 2: QUINTIC)
+          - MOVEJ, MOVEL: point blend radius (in meters, floating point)
+          - SPLINE: spline type (1: CUBIC, 2: QUINTIC)
    =====  =====

include/ur_client_library/control/trajectory_point_interface.h

@@ -63,16 +63,6 @@ enum class TrajectorySplineType : int32_t
   SPLINE_QUINTIC = 2
 };
 
-/*!
- * Motion Types
- */
-enum class TrajectoryMotionType : int32_t
-{
-  JOINT_POINT = 0,
-  CARTESIAN_POINT = 1,
-  JOINT_POINT_SPLINE = 2
-};
-
 /*!
  * \brief The TrajectoryPointInterface class handles trajectory forwarding to the robot. Full
  * trajectories are forwarded to the robot controller and are executed there.

resources/external_control.urscript

@@ -31,9 +31,9 @@ REVERSE_INTERFACE_DATA_DIMENSION = 8
 TRAJECTORY_MODE_RECEIVE = 1
 TRAJECTORY_MODE_CANCEL = -1
 
-TRAJECTORY_POINT_JOINT = 0
-TRAJECTORY_POINT_CARTESIAN = 1
-TRAJECTORY_POINT_JOINT_SPLINE = 2
+MOTION_TYPE_MOVEJ = 0
+MOTION_TYPE_MOVEL = 1
+MOTION_TYPE_SPLINE = 51
 TRAJECTORY_DATA_DIMENSION = 3 * 6 + 1
 
 TRAJECTORY_RESULT_SUCCESS = 0
@@ -486,7 +486,7 @@ thread trajectoryThread():
         is_last_point = True
       end
       # MoveJ point
-      if raw_point[INDEX_POINT_TYPE] == TRAJECTORY_POINT_JOINT:
+      if raw_point[INDEX_POINT_TYPE] == MOTION_TYPE_MOVEJ:
         acceleration = raw_point[13] / MULT_jointstate
         velocity = raw_point[7] / MULT_jointstate
         movej(q, a = acceleration, v = velocity, t = tmptime, r = blend_radius)
@@ -496,7 +496,7 @@ thread trajectoryThread():
         spline_qd = [0, 0, 0, 0, 0, 0]
 
         # Movel point
-      elif raw_point[INDEX_POINT_TYPE] == TRAJECTORY_POINT_CARTESIAN:
+      elif raw_point[INDEX_POINT_TYPE] == MOTION_TYPE_MOVEL:
         acceleration = raw_point[13] / MULT_jointstate
         velocity = raw_point[7] / MULT_jointstate
         movel(p[q[0], q[1], q[2], q[3], q[4], q[5]], a = acceleration, v = velocity, t = tmptime, r = blend_radius)
@@ -506,7 +506,7 @@ thread trajectoryThread():
         spline_qd = [0, 0, 0, 0, 0, 0]
 
         # Joint spline point
-      elif raw_point[INDEX_POINT_TYPE] == TRAJECTORY_POINT_JOINT_SPLINE:
+      elif raw_point[INDEX_POINT_TYPE] == MOTION_TYPE_SPLINE:
 
         # Cubic spline
         if raw_point[INDEX_SPLINE_TYPE] == SPLINE_CUBIC:

src/control/trajectory_point_interface.cpp

@@ -31,6 +31,7 @@
 #include <math.h>
 #include <stdexcept>
 #include "ur_client_library/comm/socket_t.h"
+#include "ur_client_library/control/motion_primitives.h"
 
 namespace urcl
 {
@@ -105,11 +106,11 @@ bool TrajectoryPointInterface::writeTrajectoryPoint(const vector6d_t* positions,
 
   if (cartesian)
   {
-    val = static_cast<int32_t>(control::TrajectoryMotionType::CARTESIAN_POINT);
+    val = static_cast<int32_t>(control::MotionType::MOVEL);
   }
   else
   {
-    val = static_cast<int32_t>(control::TrajectoryMotionType::JOINT_POINT);
+    val = static_cast<int32_t>(control::MotionType::MOVEJ);
   }
 
   val = htobe32(val);
@@ -193,7 +194,7 @@ bool TrajectoryPointInterface::writeTrajectorySplinePoint(const vector6d_t* posi
   val = htobe32(val);
   b_pos += append(b_pos, val);
 
-  val = static_cast<int32_t>(control::TrajectoryMotionType::JOINT_POINT_SPLINE);
+  val = static_cast<int32_t>(control::MotionType::SPLINE);
   val = htobe32(val);
   b_pos += append(b_pos, val);
 

tests/test_trajectory_point_interface.cpp

@@ -31,6 +31,7 @@
 #include <gtest/gtest.h>
 #include <ur_client_library/control/trajectory_point_interface.h>
 #include <ur_client_library/comm/tcp_socket.h>
+#include <ur_client_library/control/motion_primitives.h>
 
 using namespace urcl;
 
@@ -283,7 +284,7 @@ TEST_F(TrajectoryPointInterfaceTest, write_quintic_joint_spline)
             received_data.blend_radius_or_spline_type);
 
   // Motion type
-  EXPECT_EQ(static_cast<int32_t>(control::TrajectoryMotionType::JOINT_POINT_SPLINE), received_data.motion_type);
+  EXPECT_EQ(static_cast<int32_t>(control::MotionType::SPLINE), received_data.motion_type);
 }
 
 TEST_F(TrajectoryPointInterfaceTest, write_cubic_joint_spline)
@@ -327,7 +328,7 @@ TEST_F(TrajectoryPointInterfaceTest, write_cubic_joint_spline)
             received_data.blend_radius_or_spline_type);
 
   // Motion type
-  EXPECT_EQ(static_cast<int32_t>(control::TrajectoryMotionType::JOINT_POINT_SPLINE), received_data.motion_type);
+  EXPECT_EQ(static_cast<int32_t>(control::MotionType::SPLINE), received_data.motion_type);
 }
 
 TEST_F(TrajectoryPointInterfaceTest, write_splines_velocities)
@@ -443,4 +444,4 @@ int main(int argc, char* argv[])
   ::testing::InitGoogleTest(&argc, argv);
 
   return RUN_ALL_TESTS();
-}
+}