planning: srv_kinematics_plugin.h Source File

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00034 
00035 /* Author: Dave Coleman, Masaki Murooka
00036    Desc:   Connects MoveIt to any inverse kinematics solver via a ROS service call
00037            Supports planning groups with multiple tip frames
00038            \todo: better support for mimic joints
00039            \todo: better support for redundant joints
00040 */
00041 
00042 #ifndef MOVEIT_ROS_PLANNING_SRV_KINEMATICS_PLUGIN_
00043 #define MOVEIT_ROS_PLANNING_SRV_KINEMATICS_PLUGIN_
00044 
00045 // ROS
00046 #include <ros/ros.h>
00047 
00048 // System
00049 #include <boost/shared_ptr.hpp>
00050 
00051 // ROS msgs
00052 #include <geometry_msgs/PoseStamped.h>
00053 #include <moveit_msgs/GetPositionFK.h>
00054 #include <moveit_msgs/GetPositionIK.h>
00055 #include <moveit_msgs/GetKinematicSolverInfo.h>
00056 #include <moveit_msgs/MoveItErrorCodes.h>
00057 
00058 // MoveIt!
00059 #include <moveit/kinematics_base/kinematics_base.h>
00060 #include <moveit/robot_model/robot_model.h>
00061 #include <moveit/robot_state/robot_state.h>
00062 
00063 namespace srv_kinematics_plugin
00064 {
00069   class SrvKinematicsPlugin : public kinematics::KinematicsBase
00070   {
00071     public:
00072 
00076     SrvKinematicsPlugin();
00077 
00078     virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
00079                                const std::vector<double> &ik_seed_state,
00080                                std::vector<double> &solution,
00081                                moveit_msgs::MoveItErrorCodes &error_code,
00082                                const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00083 
00084     virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00085                                   const std::vector<double> &ik_seed_state,
00086                                   double timeout,
00087                                   std::vector<double> &solution,
00088                                   moveit_msgs::MoveItErrorCodes &error_code,
00089                                   const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00090 
00091     virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00092                                   const std::vector<double> &ik_seed_state,
00093                                   double timeout,
00094                                   const std::vector<double> &consistency_limits,
00095                                   std::vector<double> &solution,
00096                                   moveit_msgs::MoveItErrorCodes &error_code,
00097                                   const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00098 
00099     virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00100                                   const std::vector<double> &ik_seed_state,
00101                                   double timeout,
00102                                   std::vector<double> &solution,
00103                                   const IKCallbackFn &solution_callback,
00104                                   moveit_msgs::MoveItErrorCodes &error_code,
00105                                   const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00106 
00107     virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00108                                   const std::vector<double> &ik_seed_state,
00109                                   double timeout,
00110                                   const std::vector<double> &consistency_limits,
00111                                   std::vector<double> &solution,
00112                                   const IKCallbackFn &solution_callback,
00113                                   moveit_msgs::MoveItErrorCodes &error_code,
00114                                   const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00115 
00116     virtual bool getPositionFK(const std::vector<std::string> &link_names,
00117                                const std::vector<double> &joint_angles,
00118                                std::vector<geometry_msgs::Pose> &poses) const;
00119 
00120     virtual bool initialize(const std::string &robot_description,
00121                             const std::string &group_name,
00122                             const std::string &base_name,
00123                             const std::string &tip_frame,
00124                             double search_discretization)
00125     {
00126       std::vector<std::string> tip_frames;
00127       tip_frames.push_back(tip_frame);
00128       initialize(robot_description, group_name, base_name, tip_frames, search_discretization);
00129     }
00130 
00131     virtual bool initialize(const std::string &robot_description,
00132                             const std::string &group_name,
00133                             const std::string &base_name,
00134                             const std::vector<std::string> &tip_frames,
00135                             double search_discretization);
00136 
00140     const std::vector<std::string>& getJointNames() const;
00141 
00145     const std::vector<std::string>& getLinkNames() const;
00146 
00150     const std::vector<std::string>& getVariableNames() const;
00151 
00152   protected:
00153 
00154     virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00155                                   const std::vector<double> &ik_seed_state,
00156                                   double timeout,
00157                                   std::vector<double> &solution,
00158                                   const IKCallbackFn &solution_callback,
00159                                   moveit_msgs::MoveItErrorCodes &error_code,
00160                                   const std::vector<double> &consistency_limits,
00161                                   const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00162 
00163     virtual bool searchPositionIK(const std::vector<geometry_msgs::Pose> &ik_poses,
00164                                   const std::vector<double> &ik_seed_state,
00165                                   double timeout,
00166                                   const std::vector<double> &consistency_limits,
00167                                   std::vector<double> &solution,
00168                                   const IKCallbackFn &solution_callback,
00169                                   moveit_msgs::MoveItErrorCodes &error_code,
00170                                   const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
00171 
00172     virtual bool setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices);
00173 
00174   private:
00175 
00176     bool timedOut(const ros::WallTime &start_time, double duration) const;
00177 
00178     int getJointIndex(const std::string &name) const;
00179 
00180     bool isRedundantJoint(unsigned int index) const;
00181 
00182     bool active_; 
00184     moveit_msgs::KinematicSolverInfo ik_group_info_; 
00186     unsigned int dimension_; 
00188     robot_model::RobotModelPtr robot_model_;
00189     robot_model::JointModelGroup* joint_model_group_;
00190 
00191     robot_state::RobotStatePtr robot_state_;
00192 
00193     int num_possible_redundant_joints_;
00194 
00195     boost::shared_ptr<ros::ServiceClient> ik_service_client_;
00196 
00197 
00198   };
00199 }
00200 
00201 #endif