reem_arm_kinematics_plugin.h

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#ifndef REEM_KINEMATICS_PLUGIN_H_
#define REEM_KINEMATICS_PLUGIN_H_

// ROS
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_datatypes.h>
#include <tf_conversions/tf_kdl.h>

// System
#include <boost/shared_ptr.hpp>
#include <algorithm>
#include <numeric>
#include <cstring>

// ROS msgs
#include <geometry_msgs/PoseStamped.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>

// Plugin
#include <kinematics_base/kinematics_base.h>

// KDL
#include <kdl/jntarray.hpp>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>

// Local
#include <reem_kinematics_constraint_aware/ik_solver.h>

// MISC
#include <angles/angles.h>

namespace reem_kinematics_constraint_aware
{
class ReemKinematicsPlugin : public kinematics::KinematicsBase
  {
    public:

    ReemKinematicsPlugin();

    bool isActive();

    bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                       const std::vector<double> &ik_seed_state,
                       std::vector<double> &solution,
                       int &error_code);

    bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                       const std::vector<double> &ik_seed_state,
                       const std::vector<double> &posture,
                       std::vector<double> &solution,
                       int &error_code);

    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);

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

    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);

     virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                   const std::vector<double> &ik_seed_state,
                                   const double &timeout,
                                   const unsigned int& redundancy,
                                   const double &consistency_limit,
                                   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);

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

    virtual bool initialize(const std::string& group_name,
                            const std::string& base_name,
                            const std::string& tip_name,
                            const double& search_discretization = .01);

     std::string getBaseFrame();

    std::string getToolFrame();

    const std::vector<std::string>& getJointNames() const;

    const std::vector<std::string>& getLinkNames() const;

    protected:

    bool loadModel(const std::string xml);
    bool readJoints(urdf::Model &robot_model);
    int getJointIndex(const std::string &name);
    int getKDLSegmentIndex(const std::string &name);
    double genRandomNumber(const double &min, const double &max);
    KDL::JntArray getRandomConfiguration();
    KDL::JntArray getRandomConfiguration(const KDL::JntArray& seed_state,
                                         const unsigned int& redundancy,
                                         const double& consistency_limit);

    bool checkConsistency(const KDL::JntArray& seed_state,
                          const unsigned int& redundancy,
                          const double& consistency_limit,
                          const KDL::JntArray& solution) const;

    int max_search_iterations_;

    bool active_;
    kinematics_msgs::KinematicSolverInfo chain_info_;

    boost::shared_ptr<KDL::ChainFkSolverPos_recursive> fk_solver_;
    boost::shared_ptr<IkSolver> ik_solver_;

    unsigned int dimension_;
    KDL::Chain kdl_chain_;
    KDL::JntArray joint_min_, joint_max_;
    std::vector<double> default_posture_;
  };
}

#endif