pr2_arm_kinematics_plugin.h
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34 
35 /* Author: Sachin Chitta */
36 
37 #pragma once
38 
39 #include <kdl/config.h>
40 #include <kdl/frames.hpp>
41 #include <kdl/jntarray.hpp>
42 #include <kdl/tree.hpp>
44 
46 #include <moveit_msgs/GetPositionFK.h>
47 #include <moveit_msgs/GetPositionIK.h>
48 #include <moveit_msgs/KinematicSolverInfo.h>
49 #include <moveit_msgs/MoveItErrorCodes.h>
50 
51 #include <kdl/chainfksolverpos_recursive.hpp>
52 
53 #include <urdf/model.h>
54 
56 
57 #include <memory>
58 
59 #include "pr2_arm_ik.h"
60 
61 namespace pr2_arm_kinematics
62 {
63 static const int NO_IK_SOLUTION = -1;
64 static const int TIMED_OUT = -2;
65 
66 MOVEIT_CLASS_FORWARD(PR2ArmIKSolver);
67 
68 // minimal stuff necessary
69 class PR2ArmIKSolver : public KDL::ChainIkSolverPos
70 {
71 public:
73 
82  PR2ArmIKSolver(const urdf::ModelInterface& robot_model, const std::string& root_frame_name,
83  const std::string& tip_frame_name, const double& search_discretization_angle, const int& free_angle);
84 
85  ~PR2ArmIKSolver() override{};
86 
87 // TODO: simplify after kinetic support is dropped
88 #define KDL_VERSION_LESS(a, b, c) ((KDL_VERSION) < ((a << 16) | (b << 8) | c))
89 #if KDL_VERSION_LESS(1, 4, 0)
91 #else
92  void updateInternalDataStructures() override;
93 #endif
94 #undef KDL_VERSION_LESS
95 
100 
104  bool active_;
105 
106  int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out) override;
107 
108  int cartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout);
109 
110  void getSolverInfo(moveit_msgs::KinematicSolverInfo& response)
111  {
112  pr2_arm_ik_.getSolverInfo(response);
113  }
114 
115 private:
116  bool getCount(int& count, const int& max_count, const int& min_count);
117 
119 
121 
122  std::string root_frame_name_;
123 };
124 
125 Eigen::Isometry3f KDLToEigenMatrix(const KDL::Frame& p);
126 double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::JntArray& array_2);
127 void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::KinematicSolverInfo& chain_info);
128 
129 MOVEIT_CLASS_FORWARD(PR2ArmKinematicsPlugin);
130 
132 {
133 public:
138 
143  bool isActive();
144 
152  bool
153  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
154  std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
156 
165  bool searchPositionIK(
166  const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
167  std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
178  bool searchPositionIK(
179  const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
180  const std::vector<double>& consistency_limits, std::vector<double>& solution,
181  moveit_msgs::MoveItErrorCodes& error_code,
183 
192  bool searchPositionIK(
193  const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
194  std::vector<double>& solution, const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
196 
207  bool searchPositionIK(
208  const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
209  const std::vector<double>& consistency_limits, std::vector<double>& solution,
210  const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
212 
220  bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
221  std::vector<geometry_msgs::Pose>& poses) const override;
222 
227  bool initialize(const moveit::core::RobotModel& robot_model, const std::string& group_name,
228  const std::string& base_frame, const std::vector<std::string>& tip_frames,
229  double search_discretization) override;
230 
234  const std::vector<std::string>& getJointNames() const override;
235 
239  const std::vector<std::string>& getLinkNames() const override;
240 
241 protected:
242  bool active_;
243  int free_angle_;
244  pr2_arm_kinematics::PR2ArmIKSolverPtr pr2_arm_ik_solver_;
245  std::string root_name_;
246  int dimension_;
247  std::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
248  KDL::Chain kdl_chain_;
249  moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
250 
253 
254  void desiredPoseCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
255  moveit_msgs::MoveItErrorCodes& error_code) const;
256 
257  void jointSolutionCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
258  moveit_msgs::MoveItErrorCodes& error_code) const;
259 };
260 } // namespace pr2_arm_kinematics
pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionFK
bool getPositionFK(const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const override
Given a set of joint angles and a set of links, compute their pose.
Definition: pr2_arm_kinematics_plugin.cpp:399
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:81
pr2_arm_kinematics::PR2ArmKinematicsPlugin::fk_solver_info_
moveit_msgs::KinematicSolverInfo fk_solver_info_
Definition: pr2_arm_kinematics_plugin.h:281
pr2_arm_kinematics
Definition: pr2_arm_ik.h:48
pr2_arm_kinematics::TIMED_OUT
static const int TIMED_OUT
Definition: pr2_arm_kinematics_plugin.h:96
pr2_arm_kinematics::PR2ArmIKSolver::getSolverInfo
void getSolverInfo(moveit_msgs::KinematicSolverInfo &response)
Definition: pr2_arm_kinematics_plugin.h:142
pr2_arm_kinematics::PR2ArmIKSolver::getCount
bool getCount(int &count, const int &max_count, const int &min_count)
Definition: pr2_arm_kinematics_plugin.cpp:50
pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionIK
bool getPositionIK(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
Given a desired pose of the end-effector, compute the joint angles to reach it.
Definition: pr2_arm_kinematics_plugin.cpp:316
moveit::core::RobotModel
Definition of a kinematic model. This class is not thread safe, however multiple instances can be cre...
Definition: robot_model.h:132
pr2_arm_kinematics::getKDLChainInfo
void getKDLChainInfo(const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
Definition: pr2_arm_kinematics_plugin.cpp:245
pr2_arm_kinematics::PR2ArmKinematicsPlugin::active_
bool active_
Definition: pr2_arm_kinematics_plugin.h:274
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
pr2_arm_kinematics::PR2ArmKinematicsPlugin::kdl_chain_
KDL::Chain kdl_chain_
Definition: pr2_arm_kinematics_plugin.h:280
kinematics_base.h
class_forward.h
pr2_arm_kinematics::PR2ArmKinematicsPlugin::isActive
bool isActive()
Specifies if the node is active or not.
Definition: pr2_arm_kinematics_plugin.cpp:259
kinematics::KinematicsBase::IKCallbackFn
boost::function< void(const geometry_msgs::Pose &, const std::vector< double > &, moveit_msgs::MoveItErrorCodes &)> IKCallbackFn
Signature for a callback to validate an IK solution. Typically used for collision checking.
Definition: kinematics_base.h:152
pr2_arm_kinematics::PR2ArmIKSolver::CartToJnt
int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override
Definition: pr2_arm_kinematics_plugin.cpp:103
pr2_arm_kinematics::PR2ArmKinematicsPlugin::dimension_
int dimension_
Definition: pr2_arm_kinematics_plugin.h:278
pr2_arm_kinematics::PR2ArmKinematicsPlugin::getLinkNames
const std::vector< std::string > & getLinkNames() const override
Return all the link names in the order they are represented internally.
Definition: pr2_arm_kinematics_plugin.cpp:415
pr2_arm_kinematics::PR2ArmKinematicsPlugin::getJointNames
const std::vector< std::string > & getJointNames() const override
Return all the joint names in the order they are used internally.
Definition: pr2_arm_kinematics_plugin.cpp:406
pr2_arm_kinematics::PR2ArmKinematicsPlugin::solutionCallback_
IKCallbackFn solutionCallback_
Definition: pr2_arm_kinematics_plugin.h:284
pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback_
IKCallbackFn desiredPoseCallback_
Definition: pr2_arm_kinematics_plugin.h:283
pr2_arm_kinematics::PR2ArmIK::getSolverInfo
void getSolverInfo(moveit_msgs::KinematicSolverInfo &info)
get chain information about the arm. This populates the IK query response, filling in joint level inf...
Definition: pr2_arm_ik.cpp:192
pr2_arm_kinematics::PR2ArmKinematicsPlugin::initialize
bool initialize(const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) override
Initialization function for the kinematics.
Definition: pr2_arm_kinematics_plugin.cpp:264
kinematics::KinematicsBase
Provides an interface for kinematics solvers.
Definition: kinematics_base.h:144
pr2_arm_kinematics::PR2ArmKinematicsPlugin::free_angle_
int free_angle_
Definition: pr2_arm_kinematics_plugin.h:275
pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver
PR2ArmIKSolver(const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle)
Definition: pr2_arm_kinematics_plugin.cpp:86
pr2_arm_kinematics::PR2ArmKinematicsPlugin::pr2_arm_ik_solver_
pr2_arm_kinematics::PR2ArmIKSolverPtr pr2_arm_ik_solver_
Definition: pr2_arm_kinematics_plugin.h:276
pr2_arm_kinematics::PR2ArmIK
Definition: pr2_arm_ik.h:149
pr2_arm_kinematics::computeEuclideanDistance
double computeEuclideanDistance(const std::vector< double > &array_1, const KDL::JntArray &array_2)
Definition: pr2_arm_kinematics_plugin.cpp:235
pr2_arm_kinematics::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(PR2ArmIKSolver)
model.h
pr2_arm_kinematics::PR2ArmKinematicsPlugin::root_name_
std::string root_name_
Definition: pr2_arm_kinematics_plugin.h:277
pr2_arm_kinematics::PR2ArmKinematicsPlugin::jnt_to_pose_solver_
std::shared_ptr< KDL::ChainFkSolverPos_recursive > jnt_to_pose_solver_
Definition: pr2_arm_kinematics_plugin.h:279
pr2_arm_kinematics::NO_IK_SOLUTION
static const int NO_IK_SOLUTION
Definition: pr2_arm_kinematics_plugin.h:95
pr2_arm_kinematics::KDLToEigenMatrix
Eigen::Isometry3f KDLToEigenMatrix(const KDL::Frame &p)
Definition: pr2_arm_kinematics_plugin.cpp:221
kdl_parser.hpp
pr2_arm_kinematics::PR2ArmIKSolver::root_frame_name_
std::string root_frame_name_
Definition: pr2_arm_kinematics_plugin.h:154
pr2_arm_kinematics::PR2ArmKinematicsPlugin::PR2ArmKinematicsPlugin
PR2ArmKinematicsPlugin()
Definition: pr2_arm_kinematics_plugin.cpp:255
pr2_arm_kinematics::PR2ArmIKSolver::cartToJntSearch
int cartToJntSearch(const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout)
Definition: pr2_arm_kinematics_plugin.cpp:159
kinematics::KinematicsQueryOptions
A set of options for the kinematics solver.
Definition: kinematics_base.h:107
pr2_arm_kinematics::PR2ArmIKSolver::updateInternalDataStructures
void updateInternalDataStructures()
Definition: pr2_arm_kinematics_plugin.cpp:97
pr2_arm_kinematics::PR2ArmIKSolver::free_angle_
int free_angle_
Definition: pr2_arm_kinematics_plugin.h:152
pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback
void desiredPoseCallback(const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, moveit_msgs::MoveItErrorCodes &error_code) const
pr2_arm_kinematics::PR2ArmKinematicsPlugin::jointSolutionCallback
void jointSolutionCallback(const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, moveit_msgs::MoveItErrorCodes &error_code) const
pr2_arm_ik.h
pr2_arm_kinematics::PR2ArmIKSolver::active_
bool active_
Indicates whether the solver has been successfully initialized.
Definition: pr2_arm_kinematics_plugin.h:136
pr2_arm_kinematics::PR2ArmKinematicsPlugin
Definition: pr2_arm_kinematics_plugin.h:163
pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_
PR2ArmIK pr2_arm_ik_
The PR2 inverse kinematics solver.
Definition: pr2_arm_kinematics_plugin.h:131
pr2_arm_kinematics::PR2ArmKinematicsPlugin::ik_solver_info_
moveit_msgs::KinematicSolverInfo ik_solver_info_
Definition: pr2_arm_kinematics_plugin.h:281
pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK
bool searchPositionIK(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
Given a desired pose of the end-effector, search for the joint angles required to reach it....
Definition: pr2_arm_kinematics_plugin.cpp:323
pr2_arm_kinematics::PR2ArmIKSolver::search_discretization_angle_
double search_discretization_angle_
Definition: pr2_arm_kinematics_plugin.h:150
pr2_arm_kinematics::PR2ArmIKSolver::~PR2ArmIKSolver
~PR2ArmIKSolver() override
Definition: pr2_arm_kinematics_plugin.h:117


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:40