$search
00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #include <ompl_ros_interface/state_transformers/ompl_ros_ik_state_transformer.h> 00038 00039 namespace ompl_ros_interface 00040 { 00041 OmplRosIKStateTransformer::OmplRosIKStateTransformer(const ompl::base::StateSpacePtr &state_space, 00042 const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group) : OmplRosStateTransformer(state_space, physical_joint_model_group), kinematics_loader_("kinematics_base","kinematics::KinematicsBase") 00043 00044 { 00045 ros::NodeHandle node_handle("~"); 00046 std::string kinematics_solver_name; 00047 group_name_ = state_space_->getName(); 00048 physical_group_name_ = physical_joint_model_group_->getName(); 00049 if(!node_handle.hasParam(group_name_+"/kinematics_solver")) 00050 { 00051 ROS_ERROR("Kinematics solver not defined for group %s in namespace %s",group_name_.c_str(),node_handle.getNamespace().c_str()); 00052 throw new OMPLROSException(); 00053 } 00054 node_handle.getParam(group_name_+"/kinematics_solver",kinematics_solver_name); 00055 ROS_DEBUG("Trying to initialize solver %s",kinematics_solver_name.c_str()); 00056 if(!kinematics_loader_.isClassAvailable(kinematics_solver_name)) 00057 { 00058 ROS_ERROR("pluginlib does not have the class %s",kinematics_solver_name.c_str()); 00059 throw new OMPLROSException(); 00060 } 00061 ROS_DEBUG("Found solver %s",kinematics_solver_name.c_str()); 00062 00063 try 00064 { 00065 kinematics_solver_ = kinematics_loader_.createClassInstance(kinematics_solver_name); 00066 } 00067 catch(pluginlib::PluginlibException& ex) //handle the class failing to load 00068 { 00069 ROS_ERROR("The plugin failed to load. Error: %s", ex.what()); 00070 throw new OMPLROSException(); 00071 } 00072 ROS_DEBUG("Loaded solver %s",kinematics_solver_name.c_str()); 00073 if(!kinematics_solver_->initialize(group_name_)) 00074 { 00075 ROS_ERROR("Could not initialize kinematics solver for group %s",group_name_.c_str()); 00076 throw new OMPLROSException(); 00077 } 00078 ROS_DEBUG("Initialized ompl ros state transformer %s",kinematics_solver_name.c_str()); 00079 } 00080 }