place_tester_fast.h
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00033 
00034 // Author(s): Matei Ciocarlie, E. Gil Jones
00035 
00036 #ifndef _PLACE_TESTER_FAST_
00037 #define _PLACE_TESTER_FAST_
00038 
00039 #include "object_manipulator/place_execution/descend_retreat_place.h"
00040 #include <arm_kinematics_constraint_aware/arm_kinematics_solver_constraint_aware.h>
00041 //#include <pr2_arm_kinematics_constraint_aware/pr2_arm_ik_solver_constraint_aware.h>
00042 
00043 #include <pluginlib/class_loader.h>
00044 
00045 namespace object_manipulator {
00046 
00047 class PlaceTesterFast : public PlaceTester
00048 {
00049 protected:
00050 
00051   geometry_msgs::Vector3 doNegate(const geometry_msgs::Vector3& vec) {
00052     geometry_msgs::Vector3 v;
00053     v.x = - vec.x;
00054     v.y = - vec.y;
00055     v.z = - vec.z;
00056     return v;
00057   }
00058 
00059   virtual void testPlace(const object_manipulation_msgs::PlaceGoal &placre_goal,
00060                          const geometry_msgs::PoseStamped &place_locations,
00061                          PlaceExecutionInfo &execution_info);
00062   
00064   std::vector<arm_navigation_msgs::LinkPadding> 
00065   linkPaddingForPlace(const object_manipulation_msgs::PlaceGoal &place_goal);
00066   
00067   void getGroupLinks(const std::string& group_name,
00068                      std::vector<std::string>& group_links);
00069 
00070   bool getInterpolatedIK(const std::string& arm_name,
00071                          const tf::Transform& first_pose,
00072                          const tf::Vector3& direction,
00073                          const double& distance,
00074                          const std::vector<double>& ik_solution,
00075                          const bool& reverse, 
00076                          const bool& premultiply,
00077                          trajectory_msgs::JointTrajectory& traj);
00078     
00079   std::map<std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*> ik_solver_map_;
00080   //std::map<std::string, pr2_arm_kinematics::PR2ArmIKSolverConstraintAware*> ik_solver_map_;
00081   
00082   double consistent_angle_;
00083   unsigned int num_points_;
00084   unsigned int redundancy_;
00085   
00086   ros::Publisher vis_marker_array_publisher_;
00087   ros::Publisher vis_marker_publisher_;
00088 
00089   planning_environment::CollisionModels* getCollisionModels();
00090   planning_models::KinematicState* getPlanningSceneState();
00091 
00092   planning_environment::CollisionModels* cm_;
00093   planning_models::KinematicState* state_;
00094 
00095  public:
00097   PlaceTesterFast(planning_environment::CollisionModels* cm = NULL,
00098                   const std::string& plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin");
00099 
00100   ~PlaceTesterFast();
00101 
00102   void setPlanningSceneState(planning_models::KinematicState* state) {
00103     state_ = state;
00104   }
00105 
00106   void testPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
00107                   const std::vector<geometry_msgs::PoseStamped> &place_locations,
00108                   std::vector<PlaceExecutionInfo> &execution_info,
00109                   bool return_on_first_hit);
00110 
00111   pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;
00112 
00113 };
00114 
00115 } //namespace grasp_execution
00116 
00117 #endif


object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Thu Jan 2 2014 11:39:04