Program Listing for File kinematics_interface.hpp

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// Copyright (c) 2022, PickNik, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//

#ifndef KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_HPP_
#define KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_HPP_

#include <memory>
#include <string>
#include <vector>

#include "eigen3/Eigen/Core"
#include "eigen3/Eigen/Geometry"
#include "eigen3/Eigen/LU"
#include "rclcpp/logging.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"

namespace kinematics_interface
{
rclcpp::Logger LOGGER = rclcpp::get_logger("kinematics_interface");

class KinematicsInterface
{
public:
  KinematicsInterface() = default;

  virtual ~KinematicsInterface() = default;

  virtual bool initialize(
    std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
    const std::string & end_effector_name) = 0;

  virtual bool convert_cartesian_deltas_to_joint_deltas(
    const Eigen::VectorXd & joint_pos, const Eigen::Matrix<double, 6, 1> & delta_x,
    const std::string & link_name, Eigen::VectorXd & delta_theta) = 0;

  virtual bool convert_joint_deltas_to_cartesian_deltas(
    const Eigen::VectorXd & joint_pos, const Eigen::VectorXd & delta_theta,
    const std::string & link_name, Eigen::Matrix<double, 6, 1> & delta_x) = 0;

  virtual bool calculate_link_transform(
    const Eigen::VectorXd & joint_pos, const std::string & link_name,
    Eigen::Isometry3d & transform) = 0;

  virtual bool calculate_jacobian(
    const Eigen::VectorXd & joint_pos, const std::string & link_name,
    Eigen::Matrix<double, 6, Eigen::Dynamic> & jacobian) = 0;

  bool convert_cartesian_deltas_to_joint_deltas(
    std::vector<double> & joint_pos_vec, const std::vector<double> & delta_x_vec,
    const std::string & link_name, std::vector<double> & delta_theta_vec)
  {
    auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size());
    auto delta_x = Eigen::Map<const Eigen::VectorXd>(delta_x_vec.data(), delta_x_vec.size());
    // TODO(anyone): heap allocation should be removed for realtime use
    Eigen::VectorXd delta_theta =
      Eigen::Map<Eigen::VectorXd>(delta_theta_vec.data(), delta_theta_vec.size());

    bool ret = convert_cartesian_deltas_to_joint_deltas(joint_pos, delta_x, link_name, delta_theta);
    for (auto i = 0ul; i < delta_theta_vec.size(); i++)
    {
      delta_theta_vec[i] = delta_theta[i];
    }
    return ret;
  }

  bool convert_joint_deltas_to_cartesian_deltas(
    const std::vector<double> & joint_pos_vec, const std::vector<double> & delta_theta_vec,
    const std::string & link_name, std::vector<double> & delta_x_vec)
  {
    auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size());
    Eigen::VectorXd delta_theta =
      Eigen::Map<const Eigen::VectorXd>(delta_theta_vec.data(), delta_theta_vec.size());
    if (delta_x_vec.size() != 6)
    {
      RCLCPP_ERROR(
        LOGGER, "The length of the cartesian delta vector (%zu) must be 6.", delta_x_vec.size());
      return false;
    }
    Eigen::Matrix<double, 6, 1> delta_x(delta_x_vec.data());
    bool ret = convert_joint_deltas_to_cartesian_deltas(joint_pos, delta_theta, link_name, delta_x);
    for (auto i = 0ul; i < delta_x_vec.size(); i++)
    {
      delta_x_vec[i] = delta_x[i];
    }
    return ret;
  }

  bool calculate_link_transform(
    const std::vector<double> & joint_pos_vec, const std::string & link_name,
    Eigen::Isometry3d & transform)
  {
    auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size());

    return calculate_link_transform(joint_pos, link_name, transform);
  }

  bool calculate_jacobian(
    const std::vector<double> & joint_pos_vec, const std::string & link_name,
    Eigen::Matrix<double, 6, Eigen::Dynamic> & jacobian)
  {
    auto joint_pos = Eigen::Map<const Eigen::VectorXd>(joint_pos_vec.data(), joint_pos_vec.size());

    return calculate_jacobian(joint_pos, link_name, jacobian);
  }
};

}  // namespace kinematics_interface

#endif  // KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_HPP_