pose_model_state_space_factory.cpp

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/* Author: Ioan Sucan */

#include <moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h>
#include <moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h>

ompl_interface::PoseModelStateSpaceFactory::PoseModelStateSpaceFactory() : ModelBasedStateSpaceFactory()
{
  type_ = PoseModelStateSpace::PARAMETERIZATION_TYPE;
}

int ompl_interface::PoseModelStateSpaceFactory::canRepresentProblem(const std::string &group,
                                                                    const moveit_msgs::MotionPlanRequest &req,
                                                                    const robot_model::RobotModelConstPtr &kmodel) const
{
  const robot_model::JointModelGroup *jmg = kmodel->getJointModelGroup(group);
  if (jmg)
  {
    const std::pair<robot_model::JointModelGroup::KinematicsSolver, robot_model::JointModelGroup::KinematicsSolverMap>& slv = jmg->getGroupKinematics();
    bool ik = false;
    // check that we have a direct means to compute IK
    if (slv.first)
      ik = jmg->getVariableCount() == slv.first.bijection_.size();
    else
      if (!slv.second.empty())
      {
        // or an IK solver for each of the subgroups
        unsigned int vc = 0;
        unsigned int bc = 0;
        for (robot_model::JointModelGroup::KinematicsSolverMap::const_iterator jt = slv.second.begin() ; jt != slv.second.end() ; ++jt)
        {
          vc += jt->first->getVariableCount();
          bc += jt->second.bijection_.size();
        }
        if (vc == jmg->getVariableCount() && vc == bc)
          ik = true;
      }
    
    if (ik)
    {
      // if we have path constraints, we prefer interpolating in pose space
      if ((!req.path_constraints.position_constraints.empty() || !req.path_constraints.orientation_constraints.empty()) &&
          req.path_constraints.joint_constraints.empty() && req.path_constraints.visibility_constraints.empty())
        return 150;
      else
        return 50;
    }
  }
  return -1;
}

ompl_interface::ModelBasedStateSpacePtr ompl_interface::PoseModelStateSpaceFactory::allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const
{
  return ModelBasedStateSpacePtr(new PoseModelStateSpace(space_spec));
}