kdl_kinematics_plugin.h

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/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */

#ifndef MOVEIT_ROS_PLANNING_KDL_KINEMATICS_PLUGIN_
#define MOVEIT_ROS_PLANNING_KDL_KINEMATICS_PLUGIN_

// ROS
#include <ros/ros.h>
#include <random_numbers/random_numbers.h>

// System
#include <boost/shared_ptr.hpp>

// ROS msgs
#include <geometry_msgs/PoseStamped.h>
#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

// KDL
#include <kdl/jntarray.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <kdl/chainiksolverpos_nr_jl.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
#include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>
#include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>

// MoveIt!
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>

namespace kdl_kinematics_plugin
{
  class KDLKinematicsPlugin : public kinematics::KinematicsBase
  {
    public:

    KDLKinematicsPlugin();

    virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                               const std::vector<double> &ik_seed_state,
                               std::vector<double> &solution,
                               moveit_msgs::MoveItErrorCodes &error_code,
                               const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

    virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                  const std::vector<double> &ik_seed_state,
                                  double timeout,
                                  std::vector<double> &solution,
                                  moveit_msgs::MoveItErrorCodes &error_code,
                                  const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

    virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                  const std::vector<double> &ik_seed_state,
                                  double timeout,
                                  const std::vector<double> &consistency_limits,
                                  std::vector<double> &solution,
                                  moveit_msgs::MoveItErrorCodes &error_code,
                                  const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

    virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                  const std::vector<double> &ik_seed_state,
                                  double timeout,
                                  std::vector<double> &solution,
                                  const IKCallbackFn &solution_callback,
                                  moveit_msgs::MoveItErrorCodes &error_code,
                                  const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

    virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                  const std::vector<double> &ik_seed_state,
                                  double timeout,
                                  const std::vector<double> &consistency_limits,
                                  std::vector<double> &solution,
                                  const IKCallbackFn &solution_callback,
                                  moveit_msgs::MoveItErrorCodes &error_code,
                                  const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

    virtual bool getPositionFK(const std::vector<std::string> &link_names,
                               const std::vector<double> &joint_angles,
                               std::vector<geometry_msgs::Pose> &poses) const;

    virtual bool initialize(const std::string &robot_description,
                            const std::string &group_name,
                            const std::string &base_name,
                            const std::string &tip_name,
                            double search_discretization);

    const std::vector<std::string>& getJointNames() const;

    const std::vector<std::string>& getLinkNames() const;

  protected:

    bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                          const std::vector<double> &ik_seed_state,
                          double timeout,
                          std::vector<double> &solution,
                          const IKCallbackFn &solution_callback,
                          moveit_msgs::MoveItErrorCodes &error_code,
                          const std::vector<double> &consistency_limits,
                          const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

    virtual bool setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices);

  private:

    bool timedOut(const ros::WallTime &start_time, double duration) const;


    bool checkConsistency(const KDL::JntArray& seed_state,
                          const std::vector<double> &consistency_limit,
                          const KDL::JntArray& solution) const;

    int getJointIndex(const std::string &name) const;

    int getKDLSegmentIndex(const std::string &name) const;

    void getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const;

    void getRandomConfiguration(const KDL::JntArray& seed_state,
                                const std::vector<double> &consistency_limits,
                                KDL::JntArray &jnt_array,
                                bool lock_redundancy) const;

    bool isRedundantJoint(unsigned int index) const;

    bool active_; 
    moveit_msgs::KinematicSolverInfo ik_chain_info_; 
    moveit_msgs::KinematicSolverInfo fk_chain_info_; 
    KDL::Chain kdl_chain_;

    unsigned int dimension_; 
    KDL::JntArray joint_min_, joint_max_; 
    mutable random_numbers::RandomNumberGenerator random_number_generator_;

    robot_model::RobotModelPtr robot_model_;

    robot_state::RobotStatePtr state_, state_2_;

    int num_possible_redundant_joints_;
    std::vector<unsigned int> redundant_joints_map_index_;

    // Storage required for when the set of redundant joints is reset
    bool position_ik_; //whether this solver is only being used for position ik
    robot_model::JointModelGroup* joint_model_group_;
    double max_solver_iterations_;
    double epsilon_;
    std::vector<JointMimic> mimic_joints_;

  };
}

#endif