cartesian_robot.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Southwest Research Institute
 *
 * 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 CARTESIAN_ROBOT_H_
#define CARTESIAN_ROBOT_H_

#include "descartes_core/robot_model.h"

namespace descartes_trajectory_test
{

class CartesianRobot : public descartes_core::RobotModel
{
public:

  CartesianRobot();

  CartesianRobot(double pos_range, double orient_range, int dof = 6)  ;

  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;

  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 isValidMove(const std::vector<double>& from_joint_pose, const std::vector<double>& to_joint_pose,
                           double dt) const;
  
  double pos_range_;
  double orient_range_;
  int dof_;

};


}

#endif // CARTESIAN_ROBOT_H