ompl_ros_ik_state_transformer.h

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#ifndef OMPL_ROS_IK_STATE_TRANSFORMER_H_
#define OMPL_ROS_IK_STATE_TRANSFORMER_H_

// OMPL ROS Interface
#include <ompl_ros_interface/ompl_ros_state_transformer.h>
#include <ompl_ros_interface/helpers/ompl_ros_exception.h>

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

namespace ompl_ros_interface
{
class OmplRosIKStateTransformer : public OmplRosStateTransformer
{
public:
  OmplRosIKStateTransformer(const ompl::base::StateSpacePtr &state_space,
                            const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group);
  ~OmplRosIKStateTransformer(){}
   
  virtual bool initialize() = 0;
 
  virtual bool configureOnRequest(const arm_navigation_msgs::GetMotionPlan::Request &request,
                                  arm_navigation_msgs::GetMotionPlan::Response &response) = 0;

  /* @brief Compute the inverse transform (from planning state to physical state)
   */ 
  virtual bool inverseTransform(const ompl::base::State &ompl_state,
                                arm_navigation_msgs::RobotState &robot_state) = 0;

  virtual bool forwardTransform(const arm_navigation_msgs::RobotState &robot_state,
                                ompl::base::State &ompl_state) = 0;

  virtual std::string getFrame() 
  {
    if(kinematics_solver_)
      return kinematics_solver_->getBaseName();
    else
      return std::string(" ");
  };

  virtual  arm_navigation_msgs::RobotState getDefaultState() = 0;

protected:
  kinematics::KinematicsBase* kinematics_solver_;

private:
  std::string group_name_;
  std::string physical_group_name_;
  pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;

};
}

#endif //OMPL_ROS_IK_STATE_TRANSFORMER_H_