pr2_arm_kinematics_constraint_aware.h

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#ifndef PR2_ARM_IK_CONSTRAINT_AWARE_H
#define PR2_ARM_IK_CONSTRAINT_AWARE_H

#include <angles/angles.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics.h>

//Pose command for the ik node
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionFK.h>

#include <boost/shared_ptr.hpp>

#include <planning_environment/models/collision_models_interface.h>

#include <arm_navigation_msgs/DisplayTrajectory.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>

#include <urdf/model.h>

namespace pr2_arm_kinematics
{
class PR2ArmIKConstraintAware : public pr2_arm_kinematics::PR2ArmKinematics
{
public:

  PR2ArmIKConstraintAware();

  virtual ~PR2ArmIKConstraintAware()
  {
    if (collision_models_interface_)
      delete collision_models_interface_;
  };

  int CartToJntSearch(const KDL::JntArray& q_in, 
                      const KDL::Frame& p_in, 
                      KDL::JntArray &q_out, 
                      const double &timeout, 
                      arm_navigation_msgs::ArmNavigationErrorCodes& error_code);

  bool getConstraintAwarePositionIK(kinematics_msgs::GetConstraintAwarePositionIK::Request &request, 
                                    kinematics_msgs::GetConstraintAwarePositionIK::Response &response);

  virtual bool getPositionIK(kinematics_msgs::GetPositionIK::Request &request, 
                             kinematics_msgs::GetPositionIK::Response &response);
  
 protected:

    virtual bool transformPose(const std::string& des_frame,
                               const geometry_msgs::PoseStamped& pose_in,
                               geometry_msgs::PoseStamped& pose_out);


private:

  ros::ServiceServer ik_collision_service_;
  planning_environment::CollisionModelsInterface *collision_models_interface_;
  std::string group_;
  bool use_collision_map_;
  ros::Publisher vis_marker_publisher_;
  ros::Publisher vis_marker_array_publisher_;
  void contactFound(collision_space::EnvironmentModel::Contact &contact);
  std::vector<std::string> end_effector_collision_links_;
  std::vector<std::string> arm_links_;
  void initialPoseCheck(const KDL::JntArray &jnt_array, 
                        const KDL::Frame &p_in,
                        arm_navigation_msgs::ArmNavigationErrorCodes &error_code);
  void collisionCheck(const KDL::JntArray &jnt_array, 
                      const KDL::Frame &p_in,
                      arm_navigation_msgs::ArmNavigationErrorCodes &error_code);
  void printStringVec(const std::string &prefix, const std::vector<std::string> &string_vector);
  ros::Publisher display_trajectory_publisher_;
  bool visualize_solution_;
  kinematics_msgs::PositionIKRequest ik_request_;
  ros::Time last_planning_scene_drop_;
  arm_navigation_msgs::Constraints constraints_;
  void advertiseIK();

  bool isReady(arm_navigation_msgs::ArmNavigationErrorCodes &error_code);
  void sendEndEffectorPose(const planning_models::KinematicState* state, bool valid);
};
}
#endif