arm_kinematics_constraint_aware_utils.h

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#ifndef ARM_KINEMATICS_CONSTRAINT_AWARE_UTILS_H
#define ARM_KINEMATICS_CONSTRAINT_AWARE_UTILS_H

// ROS
#include <ros/ros.h>
#include <urdf/model.h>

// System
#include <vector>
#include <Eigen/Core>

// KDL
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <kdl_parser/kdl_parser.hpp>

// TF
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>

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

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

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

using namespace angles;

namespace arm_kinematics_constraint_aware
{
Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame &p);

double computeEuclideanDistance(const std::vector<double> &array_1, 
                                const KDL::JntArray &array_2);

double distance(const urdf::Pose &transform);

bool solveQuadratic(const double &a, 
                    const double &b, 
                    const double &c, 
                    double *x1, 
                    double *x2);

Eigen::Matrix4f matrixInverse(const Eigen::Matrix4f &g);

bool solveCosineEqn(const double &a, 
                    const double &b, 
                    const double &c, 
                    double &soln1, 
                    double &soln2);

bool loadRobotModel(ros::NodeHandle node_handle, 
                    urdf::Model &robot_model, 
                    std::string &root_name, 
                    std::string &tip_name, 
                    std::string &xml_string);

bool getKDLChain(const std::string &xml_string, 
                 const std::string &root_name, 
                 const std::string &tip_name, 
                 KDL::Chain &kdl_chain);

bool getKDLTree(const std::string &xml_string, 
                const std::string &root_name, 
                const std::string &tip_name, 
                KDL::Tree &kdl_chain);

bool checkJointNames(const std::vector<std::string> &joint_names, 
                     const kinematics_msgs::KinematicSolverInfo &chain_info);

bool checkLinkNames(const std::vector<std::string> &link_names,
                    const kinematics_msgs::KinematicSolverInfo &chain_info);

bool checkLinkName(const std::string &link_name, 
                   const kinematics_msgs::KinematicSolverInfo &chain_info);
 
bool checkRobotState(arm_navigation_msgs::RobotState &robot_state,
                     const kinematics_msgs::KinematicSolverInfo &chain_info);

bool checkFKService(kinematics_msgs::GetPositionFK::Request &request, 
                    kinematics_msgs::GetPositionFK::Response &response, 
                    const kinematics_msgs::KinematicSolverInfo &chain_info);
 
bool checkIKService(kinematics_msgs::GetPositionIK::Request &request, 
                    kinematics_msgs::GetPositionIK::Response &response,
                    const kinematics_msgs::KinematicSolverInfo &chain_info);
 
bool checkConstraintAwareIKService(kinematics_msgs::GetConstraintAwarePositionIK::Request &request, 
                                   kinematics_msgs::GetConstraintAwarePositionIK::Response &response,
                                   const kinematics_msgs::KinematicSolverInfo &chain_info);

int getJointIndex(const std::string &name,
                  const kinematics_msgs::KinematicSolverInfo &chain_info);

bool convertPoseToRootFrame(const geometry_msgs::PoseStamped &pose_msg, 
                            KDL::Frame &pose_kdl, 
                            const std::string &root_frame, 
                            const tf::TransformListener &tf);

bool convertPoseToRootFrame(const geometry_msgs::PoseStamped &pose_msg, 
                            geometry_msgs::PoseStamped &pose_msg_out, 
                            const std::string &root_frame, 
                            const tf::TransformListener &tf);

int getKDLSegmentIndex(const KDL::Chain &chain, 
                       const std::string &name);

void getKDLChainInfo(const KDL::Chain &chain,
                     kinematics_msgs::KinematicSolverInfo &chain_info);

void reorderJointState(sensor_msgs::JointState &joint_state, 
                       const kinematics_msgs::KinematicSolverInfo &chain_info);

bool extractJointState(const sensor_msgs::JointState& joint_state,
                       const std::vector<std::string>& joint_names,
                       std::vector<double>& values);

bool getChainInfoFromRobotModel(urdf::Model &robot_model,
                                const std::string &root_name,
                                const std::string &tip_name,
                                kinematics_msgs::KinematicSolverInfo &chain_info);

bool getChainInfo(const std::string &name, kinematics_msgs::KinematicSolverInfo &chain_info);

arm_navigation_msgs::ArmNavigationErrorCodes kinematicsErrorCodeToMotionPlanningErrorCode(const int &kinematics_error_code);

}

#endif// ARM_KINEMATICS_CONSTRAINT_AWARE_UTILS_H_