pr2_arm_kinematics_utils.h

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#ifndef PR2_ARM_IK_UTILS_H
#define PR2_ARM_IK_UTILS_H

#include <ros/ros.h>
#include <vector>
#include <angles/angles.h>
#include <Eigen/Core>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>

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


using namespace angles;

namespace pr2_arm_kinematics
{
  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 &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,
                              tf::TransformListener& tf);

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

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

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

#endif// PR2_ARM_IK_UTILS_H