kinematics_base: kinematics_base: kinematics

00001 /*********************************************************************
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00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2008, Willow Garage, Inc.
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00035 * Author: Sachin Chitta
00036 *********************************************************************/
00037 #ifndef KINEMATICS_BASE_
00038 #define KINEMATICS_BASE_
00039 
00040 #include <geometry_msgs/PoseStamped.h>
00041 #include <arm_navigation_msgs/RobotState.h>
00042 
00043 #include <kinematics_msgs/GetPositionIK.h>
00044 #include <kinematics_msgs/GetPositionFK.h>
00045 
00046 namespace kinematics {
00047 
00048   static const int SUCCESS = 1;
00049   static const int TIMED_OUT = -1;
00050   static const int NO_IK_SOLUTION = -2;
00051   static const int FRAME_TRANSFORM_FAILURE = -3;
00052   static const int IK_LINK_INVALID = -4;
00053   static const int IK_LINK_IN_COLLISION = -5;
00054   static const int STATE_IN_COLLISION = -6;
00055   static const int INVALID_LINK_NAME = -7;
00056   static const int GOAL_CONSTRAINTS_VIOLATED = -7;
00057   static const int INACTIVE = -8;
00058 
00063   class KinematicsBase{
00064     public:
00072        virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
00073                                   const std::vector<double> &ik_seed_state,
00074                                   std::vector<double> &solution,
00075                                   int &error_code) = 0;      
00076 
00085        virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00086                                      const std::vector<double> &ik_seed_state,
00087                                      const double &timeout,
00088                                      std::vector<double> &solution,
00089                                      int &error_code) = 0;      
00090 
00099        virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00100                                      const std::vector<double> &ik_seed_state,
00101                                      const double &timeout,
00102                                      std::vector<double> &solution,
00103                                      const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &desired_pose_callback,
00104                                      const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &solution_callback,
00105                                      int &error_code) = 0;      
00106 
00113        virtual bool getPositionFK(const std::vector<std::string> &link_names,
00114                                   const std::vector<double> &joint_angles, 
00115                                   std::vector<geometry_msgs::Pose> &poses) = 0;
00116 
00121       virtual bool initialize(std::string name) = 0;
00122 
00127       virtual std::string getBaseFrame() = 0;
00128 
00132       virtual std::string getToolFrame() = 0;
00133 
00137       virtual std::vector<std::string> getJointNames() = 0;
00138 
00142       virtual std::vector<std::string> getLinkNames() = 0;
00143 
00147       virtual ~KinematicsBase(){}
00148 
00149     protected:
00150     KinematicsBase(){}
00151   };
00152 };
00153 
00154 #endif
kinematics_base.h
