pr2_arm_ik_solver.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_SOLVER_
#define MOVEIT_PR2_ARM_IK_SOLVER_

#include <urdf/model.h>
#include <Eigen/Core>
#include <kdl/chainiksolver.hpp>
#include <pr2_arm_kinematics/pr2_arm_ik.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/PositionIKRequest.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf_conversions/tf_kdl.h>

namespace pr2_arm_kinematics
{

static const int NO_IK_SOLUTION = -1;
static const int TIMED_OUT = -2;

  class PR2ArmIKSolver : public KDL::ChainIkSolverPos
  {
    public:

    PR2ArmIKSolver(const urdf::Model &robot_model,
                   const std::string &root_frame_name,
                   const std::string &tip_frame_name,
                   const double &search_discretization_angle,
                   const int &free_angle);

    ~PR2ArmIKSolver(){ delete pr2_arm_ik_; };

    PR2ArmIK *pr2_arm_ik_;

    bool active_;

    int CartToJnt(const KDL::JntArray& q_init,
                  const KDL::Frame& p_in,
                  KDL::JntArray& q_out);

    int CartToJnt(const KDL::JntArray& q_init,
                  const KDL::Frame& p_in,
                  std::vector<KDL::JntArray> &q_out);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        std::vector<KDL::JntArray> &q_out,
                        const double &timeout);

//  
//  Undefined in pr2_arm_ik_solver.cpp, so commented out dash@clearpathrobotics.com
 //int CartToJntSearch(const KDL::JntArray& q_in,
 //                       const KDL::Frame& p_in,
 //                       KDL::JntArray &q_out,
 //                       const double &timeout);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        const double& consistency_limit);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsBase::IKCallbackFn &solution_callback);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        const double& consistency_limit,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsBase::IKCallbackFn &solution_callback);

    void getSolverInfo(moveit_msgs::KinematicSolverInfo &response);

    std::string getFrameId();

    unsigned int getFreeAngle() const {
      return free_angle_;
    }

    void setFreeAngle(const unsigned int& free_angle) {
      free_angle_ = free_angle;
    }

  private:

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        bool use_consistency_limit,
                        const double& consistency_limit,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsBase::IKCallbackFn &solution_callback);

    bool getCount(int &count, const int &max_count, const int &min_count);

    double search_discretization_angle_;

    int free_angle_;

    std::string root_frame_name_;
  };
}
#endif// PR2_ARM_IK_SOLVER_H