arm_kinematics_constraint_aware.h

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#ifndef ARM_KINEMATICS_CONSTRAINT_AWARE_H
#define ARM_KINEMATICS_CONSTRAINT_AWARE_H

// System
#include <boost/shared_ptr.hpp>

// ROS msgs
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionFK.h>

#include <motion_planning_msgs/ArmNavigationErrorCodes.h>
#include <motion_planning_msgs/DisplayTrajectory.h>
#include <motion_planning_msgs/LinkPadding.h>

// MISC
#include <arm_kinematics_constraint_aware/arm_kinematics_constraint_aware_utils.h>
#include <planning_environment/monitors/planning_monitor.h>
#include <planning_models/kinematic_model.h>
#include <kdl/jntarray.hpp>
#include <angles/angles.h>
#include <urdf/model.h>

// plugin
#include <pluginlib/class_loader.h>
#include <kinematics_base/kinematics_base.h>


namespace arm_kinematics_constraint_aware
{
class ArmKinematicsConstraintAware
{
public:

  ArmKinematicsConstraintAware();

  virtual ~ArmKinematicsConstraintAware()
        {
    if (planning_monitor_)
      delete planning_monitor_;
    if (collision_models_)
      delete collision_models_;
        };

  bool getConstraintAwarePositionIK(kinematics_msgs::GetConstraintAwarePositionIK::Request &request, 
                                    kinematics_msgs::GetConstraintAwarePositionIK::Response &response);

  bool getPositionIK(kinematics_msgs::GetPositionIK::Request &request, 
                     kinematics_msgs::GetPositionIK::Response &response);

  bool getIKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request, 
                       kinematics_msgs::GetKinematicSolverInfo::Response &response);

  bool getFKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request, 
                       kinematics_msgs::GetKinematicSolverInfo::Response &response);

  bool getPositionFK(kinematics_msgs::GetPositionFK::Request &request, 
                     kinematics_msgs::GetPositionFK::Response &response);

  bool isActive(){ return active_;}
private:

  pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;
  kinematics::KinematicsBase* kinematics_solver_;
  bool active_;

  ros::NodeHandle node_handle_,root_handle_;
  ros::ServiceServer ik_collision_service_, ik_service_, fk_service_, ik_solver_info_service_, fk_solver_info_service_;
  planning_environment::CollisionModels *collision_models_;
  planning_environment::PlanningMonitor *planning_monitor_;
  planning_models::KinematicState* kinematic_state_;
  std::string group_,root_name_;
  bool use_collision_map_;
  ros::Publisher vis_marker_publisher_;
  ros::Publisher vis_marker_array_publisher_;
  void contactFound(collision_space::EnvironmentModel::Contact &contact);
  std::vector<std::string> default_collision_links_;
  std::vector<std::string> end_effector_collision_links_;
  std::vector<std::string> arm_links_;
  void collisionCheck(const geometry_msgs::Pose &ik_pose,
                      const std::vector<double> &ik_solution,
                      int &error_code);
  void initialPoseCheck(const geometry_msgs::Pose &ik_pose,
                        const std::vector<double> &ik_solution,
                        int &error_code);
  void printStringVec(const std::string &prefix, const std::vector<std::string> &string_vector);
  ros::Publisher display_trajectory_publisher_;
  bool visualize_solution_;
  kinematics_msgs::PositionIKRequest ik_request_;
  motion_planning_msgs::OrderedCollisionOperations collision_operations_;
  std::vector<motion_planning_msgs::LinkPadding> link_padding_;
  std::vector<motion_planning_msgs::AllowedContactSpecification> allowed_contacts_;
  motion_planning_msgs::Constraints constraints_;
  bool setup_collision_environment_;
  bool setupCollisionEnvironment(void);

  void advertiseBaseKinematicsServices();
  void advertiseConstraintIKService();

  bool isReady(motion_planning_msgs::ArmNavigationErrorCodes &error_code);
  void sendEndEffectorPose(const planning_models::KinematicState* state, bool valid);

  kinematics_msgs::KinematicSolverInfo chain_info_;

  urdf::Model robot_model_;
  bool robot_model_initialized_;
  tf::TransformListener tf_;
};
}
#endif