default_constraint_samplers.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_CONSTRAINT_SAMPLERS_
#define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_CONSTRAINT_SAMPLERS_

#include <moveit/constraint_samplers/constraint_sampler.h>
#include <random_numbers/random_numbers.h>

namespace constraint_samplers
{

class JointConstraintSampler : public ConstraintSampler
{
public:

  JointConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene,
                         const std::string &group_name) :
    ConstraintSampler(scene, group_name)
  {
  }
  virtual bool configure(const moveit_msgs::Constraints &constr);

  bool configure(const std::vector<kinematic_constraints::JointConstraint> &jc);

  virtual bool sample(robot_state::RobotState &state,
                      const robot_state::RobotState &ks,
                      unsigned int max_attempts);

  virtual bool project(robot_state::RobotState &state,
                       unsigned int max_attempts);

  std::size_t getConstrainedJointCount() const
  {
    return bounds_.size();
  }

  std::size_t getUnconstrainedJointCount() const
  {
    return unbounded_.size();
  }

  virtual const std::string& getName() const
  {
    static const std::string SAMPLER_NAME = "JointConstraintSampler";
    return SAMPLER_NAME;
  }

protected:

  struct JointInfo
  {
    JointInfo()
    {
      min_bound_ = -std::numeric_limits<double>::max();
      max_bound_ = std::numeric_limits<double>::max();
    }

    void potentiallyAdjustMinMaxBounds(double min, double max)
    {
      min_bound_ = std::max(min, min_bound_);
      max_bound_ = std::min(max, max_bound_);
    }

    double min_bound_;          
    double max_bound_;          
    std::size_t index_;         
  };

  virtual void clear();

  random_numbers::RandomNumberGenerator           random_number_generator_; 
  std::vector<JointInfo>                          bounds_; 
  std::vector<const robot_model::JointModel*> unbounded_; 
  std::vector<unsigned int>                       uindex_; 
  std::vector<double>                             values_; 
};

struct IKSamplingPose
{
  IKSamplingPose();

  IKSamplingPose(const kinematic_constraints::PositionConstraint &pc);

  IKSamplingPose(const kinematic_constraints::OrientationConstraint &oc);

  IKSamplingPose(const kinematic_constraints::PositionConstraint &pc,
                 const kinematic_constraints::OrientationConstraint &oc);

  IKSamplingPose(const boost::shared_ptr<kinematic_constraints::PositionConstraint> &pc);

  IKSamplingPose(const boost::shared_ptr<kinematic_constraints::OrientationConstraint> &oc);


  IKSamplingPose(const boost::shared_ptr<kinematic_constraints::PositionConstraint> &pc,
                 const boost::shared_ptr<kinematic_constraints::OrientationConstraint> &oc);

  boost::shared_ptr<kinematic_constraints::PositionConstraint>    position_constraint_; 
  boost::shared_ptr<kinematic_constraints::OrientationConstraint> orientation_constraint_; 
};

class IKConstraintSampler : public ConstraintSampler
{
public:

  IKConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene,
                      const std::string &group_name) :
    ConstraintSampler(scene, group_name)
  {
  }

  virtual bool configure(const moveit_msgs::Constraints &constr);

  bool configure(const IKSamplingPose &sp);

  double getIKTimeout() const
  {
    return ik_timeout_;
  }

  void setIKTimeout(double timeout)
  {
    ik_timeout_ = timeout;
  }

  const boost::shared_ptr<kinematic_constraints::PositionConstraint>& getPositionConstraint() const
  {
    return sampling_pose_.position_constraint_;
  }
  const boost::shared_ptr<kinematic_constraints::OrientationConstraint>& getOrientationConstraint() const
  {
    return sampling_pose_.orientation_constraint_;
  }

  double getSamplingVolume() const;

  const std::string& getLinkName() const;

  virtual bool sample(robot_state::RobotState &state,
                      const robot_state::RobotState &reference_state,
                      unsigned int max_attempts);

  virtual bool project(robot_state::RobotState &state,
                       unsigned int max_attempts);
  bool samplePose(Eigen::Vector3d &pos, Eigen::Quaterniond &quat, const robot_state::RobotState &ks, unsigned int max_attempts);

  virtual const std::string& getName() const
  {
    static const std::string SAMPLER_NAME = "IKConstraintSampler";
    return SAMPLER_NAME;
  }

protected:

  virtual void clear();

  bool loadIKSolver();

  bool callIK(const geometry_msgs::Pose &ik_query, const kinematics::KinematicsBase::IKCallbackFn &adapted_ik_validity_callback,
              double timeout, robot_state::RobotState &state, bool use_as_seed);
  bool sampleHelper(robot_state::RobotState &state, const robot_state::RobotState &reference_state, unsigned int max_attempts, bool project);
  bool validate(robot_state::RobotState &state) const;

  random_numbers::RandomNumberGenerator random_number_generator_; 
  IKSamplingPose                        sampling_pose_; 
  kinematics::KinematicsBaseConstPtr    kb_; 
  double                                ik_timeout_; 
  std::string                           ik_frame_; 
  bool                                  transform_ik_; 
};


}


#endif