pr2_arm_kinematics_plugin.h

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#ifndef PR2_ARM_IK_NODE_H
#define PR2_ARM_IK_NODE_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

#include <angles/angles.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <tf_conversions/tf_kdl.h>

#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

#include <kinematics_base/kinematics_base.h>

namespace pr2_arm_kinematics
{
class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
{
public:

  PR2ArmKinematicsPlugin();

  bool isActive();

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

  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);      

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

  bool active_;
  int free_angle_;
  urdf::Model robot_model_;
  ros::NodeHandle node_handle_, root_handle_;
  boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_ik_solver_;
  ros::ServiceServer ik_service_,fk_service_,ik_solver_info_service_,fk_solver_info_service_;
  //tf::TransformListener tf_;
  std::string root_name_;
  int dimension_;
  boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
  KDL::Chain kdl_chain_;
  kinematics_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;

  boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> desiredPoseCallback_;
  boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> solutionCallback_;    
  void desiredPoseCallback(const KDL::JntArray& jnt_array, 
                           const KDL::Frame& ik_pose,
                           arm_navigation_msgs::ArmNavigationErrorCodes& error_code);

  void jointSolutionCallback(const KDL::JntArray& jnt_array, 
                             const KDL::Frame& ik_pose,
                             arm_navigation_msgs::ArmNavigationErrorCodes& error_code);


};
}

#endif