kinematics_base.h

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* Author: Sachin Chitta
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#ifndef KINEMATICS_BASE_
#define KINEMATICS_BASE_

#include <geometry_msgs/PoseStamped.h>
#include <motion_planning_msgs/RobotState.h>

#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetPositionFK.h>

namespace kinematics {

  static const int SUCCESS = 1;
  static const int TIMED_OUT = -1;
  static const int NO_IK_SOLUTION = -2;
  static const int FRAME_TRANSFORM_FAILURE = -3;
  static const int IK_LINK_INVALID = -4;
  static const int IK_LINK_IN_COLLISION = -5;
  static const int STATE_IN_COLLISION = -6;
  static const int INVALID_LINK_NAME = -7;
  static const int GOAL_CONSTRAINTS_VIOLATED = -7;
  static const int INACTIVE = -8;

  class KinematicsBase{
    public:
       virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                                  const std::vector<double> &ik_seed_state,
                                  std::vector<double> &solution,
                                  int &error_code) = 0;      

       virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                     const std::vector<double> &ik_seed_state,
                                     const double &timeout,
                                     std::vector<double> &solution,
                                     int &error_code) = 0;      

       virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                     const std::vector<double> &ik_seed_state,
                                     const double &timeout,
                                     std::vector<double> &solution,
                                     const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &desired_pose_callback,
                                     const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &solution_callback,
                                     int &error_code) = 0;      

       virtual bool getPositionFK(const std::vector<std::string> &link_names,
                                  const std::vector<double> &joint_angles, 
                                  std::vector<geometry_msgs::Pose> &poses) = 0;

      virtual bool initialize(std::string name) = 0;

      virtual std::string getBaseFrame() = 0;

      virtual std::string getToolFrame() = 0;

      virtual std::vector<std::string> getJointNames() = 0;

      virtual std::vector<std::string> getLinkNames() = 0;

      virtual ~KinematicsBase(){}

    protected:
    KinematicsBase(){}
  };
};

#endif