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Merged
jorgenfj merged 1 commit into from
Apr 25, 2026
Merged

new waypoint modes #51

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2 changes: 2 additions & 0 deletions vortex_utils/include/vortex/utils/types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -447,6 +447,8 @@ enum class WaypointMode : uint8_t {
ONLY_POSITION = 1, ///< Control x, y, z; hold current orientation.
FORWARD_HEADING = 2, ///< Control x, y, z with yaw toward target.
ONLY_ORIENTATION = 3, ///< Control roll, pitch, yaw; hold current position.
POSITION_AND_YAW = 4, ///< Control x, y, z and yaw; force roll=pitch=0.
XY_AND_YAW = 5, ///< Control x, y and yaw; hold z, force roll=pitch=0.
};

/**
Expand Down
66 changes: 54 additions & 12 deletions vortex_utils/src/waypoint_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,10 @@ WaypointMode string_to_waypoint_mode(const std::string& str) {
return WaypointMode::FORWARD_HEADING;
if (str == "ONLY_ORIENTATION" || str == "only_orientation")
return WaypointMode::ONLY_ORIENTATION;
if (str == "POSITION_AND_YAW" || str == "position_and_yaw")
return WaypointMode::POSITION_AND_YAW;
if (str == "XY_AND_YAW" || str == "xy_and_yaw")
return WaypointMode::XY_AND_YAW;
throw std::runtime_error("Unknown WaypointMode string: '" + str + "'");
}

Expand All @@ -32,14 +36,18 @@ WaypointMode load_mode(const YAML::Node& node) {
}
}

Pose load_pose_for_mode(const YAML::Node& node, WaypointMode mode) { //
Pose load_pose_for_mode(const YAML::Node& node, WaypointMode mode) { //
Pose pose; // defaults: x=y=z=0, qw=1, qx=qy=qz=0

const bool needs_position = (mode == WaypointMode::FULL_POSE ||
mode == WaypointMode::ONLY_POSITION ||
mode == WaypointMode::FORWARD_HEADING);
mode == WaypointMode::FORWARD_HEADING ||
mode == WaypointMode::POSITION_AND_YAW ||
mode == WaypointMode::XY_AND_YAW);
const bool needs_orientation = (mode == WaypointMode::FULL_POSE ||
mode == WaypointMode::ONLY_ORIENTATION);
mode == WaypointMode::ONLY_ORIENTATION ||
mode == WaypointMode::POSITION_AND_YAW ||
mode == WaypointMode::XY_AND_YAW);

if (needs_position) {
pose.x = node["position"]["x"].as<double>();
Expand All @@ -48,10 +56,16 @@ Pose load_pose_for_mode(const YAML::Node& node, WaypointMode mode) { //
}

if (needs_orientation) {
const bool force_level = (mode == WaypointMode::POSITION_AND_YAW ||
mode == WaypointMode::XY_AND_YAW);
const double roll =
node["orientation"]["roll"].as<double>() * (M_PI / 180.0);
force_level
? 0.0
: node["orientation"]["roll"].as<double>() * (M_PI / 180.0);
const double pitch =
node["orientation"]["pitch"].as<double>() * (M_PI / 180.0);
force_level
? 0.0
: node["orientation"]["pitch"].as<double>() * (M_PI / 180.0);
const double yaw =
node["orientation"]["yaw"].as<double>() * (M_PI / 180.0);
const Eigen::Quaterniond q =
Expand Down Expand Up @@ -93,6 +107,31 @@ Pose compute_waypoint_goal(const Pose& incoming_waypoint,
case WaypointMode::ONLY_ORIENTATION:
waypoint_out.set_pos(current_state.pos_vector());
break;

case WaypointMode::POSITION_AND_YAW: {
const double raw_yaw = vortex::utils::math::quat_to_euler(
incoming_waypoint.ori_quaternion())(2);
const double current_yaw = vortex::utils::math::quat_to_euler(
current_state.ori_quaternion())(2);
const double yaw =
current_yaw + vortex::utils::math::ssa(raw_yaw - current_yaw);
waypoint_out.set_ori(Eigen::Quaterniond(
Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ())));
break;
}

case WaypointMode::XY_AND_YAW: {
waypoint_out.z = current_state.z;
const double raw_yaw = vortex::utils::math::quat_to_euler(
incoming_waypoint.ori_quaternion())(2);
const double current_yaw = vortex::utils::math::quat_to_euler(
current_state.ori_quaternion())(2);
const double yaw =
current_yaw + vortex::utils::math::ssa(raw_yaw - current_yaw);
waypoint_out.set_ori(Eigen::Quaterniond(
Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ())));
break;
}
}

return waypoint_out;
Expand All @@ -115,6 +154,10 @@ bool has_converged(const Pose& state,
return ea.norm();
case WaypointMode::FORWARD_HEADING:
return std::sqrt(ep.squaredNorm() + ea(2) * ea(2));
case WaypointMode::POSITION_AND_YAW:
return std::sqrt(ep.squaredNorm() + ea(2) * ea(2));
case WaypointMode::XY_AND_YAW:
return std::sqrt(ep.head<2>().squaredNorm() + ea(2) * ea(2));
case WaypointMode::FULL_POSE:
default:
return std::sqrt(ep.squaredNorm() + ea.squaredNorm());
Expand All @@ -138,7 +181,7 @@ Pose apply_pose_offset(const Pose& base, const Pose& offset) {
}

Pose load_pose_from_yaml(const std::string& file_path,
const std::string& identifier) { //
const std::string& identifier) { //
YAML::Node root = YAML::LoadFile(file_path);

if (!root[identifier]) {
Expand All @@ -152,12 +195,11 @@ Pose load_pose_from_yaml(const std::string& file_path,
const double y = pose["position"]["y"].as<double>();
const double z = pose["position"]["z"].as<double>();

const double roll = pose["orientation"]["roll"].as<double>() *
(M_PI / 180.0);
const double pitch = pose["orientation"]["pitch"].as<double>() *
(M_PI / 180.0);
const double yaw = pose["orientation"]["yaw"].as<double>() *
(M_PI / 180.0);
const double roll =
pose["orientation"]["roll"].as<double>() * (M_PI / 180.0);
const double pitch =
pose["orientation"]["pitch"].as<double>() * (M_PI / 180.0);
const double yaw = pose["orientation"]["yaw"].as<double>() * (M_PI / 180.0);

const Eigen::Quaterniond q =
vortex::utils::math::euler_to_quat(roll, pitch, yaw);
Expand Down
10 changes: 10 additions & 0 deletions vortex_utils_ros/include/vortex/utils/ros/waypoint_ros_conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,10 @@ inline WaypointMode waypoint_mode_from_ros(
return WaypointMode::FORWARD_HEADING;
case vortex_msgs::msg::WaypointMode::ONLY_ORIENTATION:
return WaypointMode::ONLY_ORIENTATION;
case vortex_msgs::msg::WaypointMode::POSITION_AND_YAW:
return WaypointMode::POSITION_AND_YAW;
case vortex_msgs::msg::WaypointMode::XY_AND_YAW:
return WaypointMode::XY_AND_YAW;
default:
throw std::invalid_argument("Invalid ROS waypoint mode: " +
std::to_string(mode_msg.mode));
Expand All @@ -50,6 +54,12 @@ inline vortex_msgs::msg::WaypointMode waypoint_mode_to_ros(
case WaypointMode::ONLY_ORIENTATION:
ros_mode.mode = vortex_msgs::msg::WaypointMode::ONLY_ORIENTATION;
break;
case WaypointMode::POSITION_AND_YAW:
ros_mode.mode = vortex_msgs::msg::WaypointMode::POSITION_AND_YAW;
break;
case WaypointMode::XY_AND_YAW:
ros_mode.mode = vortex_msgs::msg::WaypointMode::XY_AND_YAW;
break;
}
return ros_mode;
}
Expand Down
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