kinematics_base.cpp

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/* Author: Sachin Chitta, Dave Coleman */

#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model/joint_model_group.h>

const double kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION = 0.1;
const double kinematics::KinematicsBase::DEFAULT_TIMEOUT = 1.0;

void kinematics::KinematicsBase::setValues(const std::string& robot_description,
                       const std::string& group_name,
                       const std::string& base_frame,
                       const std::string& tip_frame,
                       double search_discretization)
{
  robot_description_ = robot_description;
  group_name_ = group_name;
  base_frame_ = removeSlash(base_frame);
  tip_frame_ = removeSlash(tip_frame); // for backwards compatibility
  tip_frames_.push_back(removeSlash(tip_frame));
  search_discretization_ = search_discretization;
}

void kinematics::KinematicsBase::setValues(const std::string& robot_description,
                       const std::string& group_name,
                       const std::string& base_frame,
                       const std::vector<std::string>& tip_frames,
                       double search_discretization)
{
  robot_description_ = robot_description;
  group_name_ = group_name;
  base_frame_ = removeSlash(base_frame);
  search_discretization_ = search_discretization;

  // Copy tip frames to local vector after stripping slashes
  tip_frames_.clear();
  for (std::size_t i = 0; i < tip_frames.size(); ++i)
    tip_frames_.push_back(removeSlash(tip_frames[i]));

  // Copy tip frames to our legacy variable if only one tip frame is passed in the input vector. Remove eventually.
  if (tip_frames.size() == 1)
    tip_frame_ = removeSlash(tip_frames[0]);
}

bool kinematics::KinematicsBase::setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices)
{
  for(std::size_t i = 0; i < redundant_joint_indices.size(); ++i)
  {
    if(redundant_joint_indices[i] >= getJointNames().size())
    {
      return false;
    }
  }
  redundant_joint_indices_ = redundant_joint_indices;
  return true;
}

bool kinematics::KinematicsBase::setRedundantJoints(const std::vector<std::string> &redundant_joint_names)
{
  const std::vector<std::string> &jnames = getJointNames();
  std::vector<unsigned int> redundant_joint_indices;
  for (std::size_t i = 0 ; i < redundant_joint_names.size() ; ++i)
    for (std::size_t j = 0 ; j < jnames.size() ; ++j)
      if (jnames[j] == redundant_joint_names[i])
      {
    redundant_joint_indices.push_back(j);
    break;
      }
  return redundant_joint_indices.size() == redundant_joint_names.size() ? setRedundantJoints(redundant_joint_indices) : false;
}

std::string kinematics::KinematicsBase::removeSlash(const std::string &str) const
{
  return (!str.empty() && str[0] == '/') ? removeSlash(str.substr(1)) : str;
}

const bool kinematics::KinematicsBase::supportsGroup(const moveit::core::JointModelGroup *jmg,
                                                     std::string* error_text_out) const
{
  // Default implementation for legacy solvers:
  if (!jmg->isChain())
  {
    if(error_text_out)
    {
      *error_text_out = "This plugin only supports joint groups which are chains";
    }
    return false;
  }

  return true;
}