kinematics_metrics.h

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#ifndef MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
#define MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_

#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>

namespace kinematics_metrics
{

class KinematicsMetrics
{
public:

  KinematicsMetrics(const robot_model::RobotModelConstPtr &kinematic_model) :
    kinematic_model_(kinematic_model), penalty_multiplier_(0.0)
  {
  }

  bool getManipulabilityIndex(const robot_state::RobotState &kinematic_state,
                              const std::string &group_name,
                              double &manipulability_index,
                              bool translation = false) const;

  bool getManipulabilityIndex(const robot_state::RobotState &kinematic_state,
                              const robot_model::JointModelGroup *joint_model_group,
                              double &manipulability_index,
                              bool translation = false) const;

  bool getManipulabilityEllipsoid(const robot_state::RobotState &kinematic_state,
                                  const std::string &group_name,
                                  Eigen::MatrixXcd &eigen_values,
                                  Eigen::MatrixXcd &eigen_vectors) const;

  bool getManipulabilityEllipsoid(const robot_state::RobotState &kinematic_state,
                                  const robot_model::JointModelGroup *joint_model_group,
                                  Eigen::MatrixXcd &eigen_values,
                                  Eigen::MatrixXcd &eigen_vectors) const;

  bool getManipulability(const robot_state::RobotState &kinematic_state,
                         const std::string &group_name,
                         double &condition_number,
                         bool translation = false) const;

  bool getManipulability(const robot_state::RobotState &kinematic_state,
                         const robot_model::JointModelGroup *joint_model_group,
                         double &condition_number,
                         bool translation = false) const;

  void setPenaltyMultiplier(double multiplier)
  {
    penalty_multiplier_ = fabs(multiplier);
  }

  const double& getPenaltyMultiplier() const
  {
    return penalty_multiplier_;
  }

protected:

  robot_model::RobotModelConstPtr kinematic_model_;

  Eigen::MatrixXd getJacobian(const robot_state::RobotState &kinematic_state,
                              const robot_model::JointModelGroup *joint_model_group) const;

private:

  double getJointLimitsPenalty(const robot_state::JointStateGroup* joint_state_group) const;

  double penalty_multiplier_;

};

typedef boost::shared_ptr<KinematicsMetrics> KinematicsMetricsPtr;
typedef boost::shared_ptr<const KinematicsMetrics> KinematicsMetricsConstPtr;

}

#endif