moveit_state_adapter.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Dan Solomon
 *
 * 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 MOVEIT_STATE_ADPATER_H_
#define MOVEIT_STATE_ADPATER_H_

#include "descartes_core/robot_model.h"
#include <descartes_trajectory/cart_trajectory_pt.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include "moveit/robot_model/robot_model.h"
#include "moveit/kinematics_base/kinematics_base.h"
#include <moveit/planning_scene/planning_scene.h>
#include <string>

namespace descartes_moveit
{

class MoveitStateAdapter : public descartes_core::RobotModel
{


public:
  MoveitStateAdapter();

  MoveitStateAdapter(const moveit::core::RobotState & robot_state, const std::string & group_name,
                     const std::string & tool_frame, const std::string & world_frame);

  virtual ~MoveitStateAdapter()
  {
  }

  virtual bool initialize(const std::string& robot_description, const std::string& group_name,
                          const std::string& world_frame,const std::string& tcp_frame);

  virtual bool getIK(const Eigen::Affine3d &pose, const std::vector<double> &seed_state,
                     std::vector<double> &joint_pose) const;

  virtual bool getAllIK(const Eigen::Affine3d &pose, std::vector<std::vector<double> > &joint_poses) const;

  virtual bool getFK(const std::vector<double> &joint_pose, Eigen::Affine3d &pose) const;

  virtual bool isValid(const std::vector<double> &joint_pose) const;

  virtual bool isValid(const Eigen::Affine3d &pose) const;

  virtual int getDOF() const;

  void setSeedStates(const std::vector<std::vector<double> >& seeds)
  {
    seed_states_ = seeds;
  }

  const std::vector<std::vector<double> >& getSeedStates() const
  {
    return seed_states_;
  }

  moveit::core::RobotStatePtr getState()
  {
    return robot_state_;
  }

  virtual bool isValidMove(const std::vector<double>& from_joint_pose, 
                           const std::vector<double>& to_joint_pose,
                           double dt) const;

protected:

  bool getIK(const Eigen::Affine3d &pose, std::vector<double> &joint_pose) const;

  bool isInCollision(const std::vector<double> &joint_pose) const;

  std::vector<double> velocity_limits_;
  mutable moveit::core::RobotStatePtr robot_state_;
  planning_scene::PlanningScenePtr planning_scene_;
  robot_model_loader::RobotModelLoaderPtr  robot_model_loader_;
  robot_model::RobotModelConstPtr robot_model_ptr_;

  std::vector<std::vector<double> > seed_states_;

  std::string group_name_;

  std::string tool_frame_;

  std::string world_frame_;

  descartes_core::Frame world_to_root_;

};

} //descartes_moveit

#endif /* MOVEIT_STATE_ADPATER_H_ */