kinematics_base.h

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#ifndef KINEMATICS_BASE_
#define KINEMATICS_BASE_

#include <geometry_msgs/PoseStamped.h>
#include <arm_navigation_msgs/RobotState.h>
#include <boost/function.hpp>

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,
                                const unsigned int& redundancy,
                                const double &consistency_limit,
                                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 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) = 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 void setValues(const std::string& group_name,
                         const std::string& base_name,
                         const std::string& tip_name,
                         const double& search_discretization) {
    group_name_ = group_name;
    base_name_ = base_name;
    tip_name_ = tip_name;
    search_discretization_ = search_discretization;
  }

  virtual bool initialize(const std::string& group_name,
                          const std::string& base_name,
                          const std::string& tip_name,
                          const double& search_discretization) = 0;

  virtual const std::string& getGroupName() const {
    return group_name_;    
  }

  virtual const std::string& getBaseName() const {
    return base_name_;
  }

  virtual const std::string& getTipName() const {
    return tip_name_;
  }

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

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

  virtual ~KinematicsBase(){}

  void setSearchDiscretization(double sd) {
    search_discretization_ = sd;
  }

  double getSearchDiscretization() const {
    return search_discretization_;
  }

protected:
  std::string group_name_;
  std::string base_name_;
  std::string tip_name_;
  double search_discretization_;
  KinematicsBase(){}
};
};

#endif