robot_model.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ROBOT_KINEMATICS_H_
#define ROBOT_KINEMATICS_H_

// TODO: The include below picks up Eigen::Affine3d, but there is probably a better way
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include "descartes_core/utils.h"

namespace descartes_core
{
DESCARTES_CLASS_FORWARD(RobotModel);

class RobotModel
{
public:
  virtual ~RobotModel()
  {
  }

  virtual bool getIK(const Eigen::Affine3d &pose, const std::vector<double> &seed_state,
                     std::vector<double> &joint_pose) const = 0;

  virtual bool getAllIK(const Eigen::Affine3d &pose, std::vector<std::vector<double> > &joint_poses) const = 0;

  virtual bool getFK(const std::vector<double> &joint_pose, Eigen::Affine3d &pose) const = 0;

  virtual int getDOF() const = 0;

  virtual bool isValid(const std::vector<double> &joint_pose) const = 0;

  virtual bool isValid(const Eigen::Affine3d &pose) const = 0;

  virtual bool initialize(const std::string &robot_description, const std::string &group_name,
                          const std::string &world_frame, const std::string &tcp_frame) = 0;

  virtual void setCheckCollisions(bool check_collisions)
  {
    check_collisions_ = check_collisions;
  }

  virtual bool getCheckCollisions()
  {
    return check_collisions_;
  }

  virtual bool isValidMove(const std::vector<double> &from_joint_pose, const std::vector<double> &to_joint_pose,
                           double dt) const = 0;

protected:
  RobotModel() : check_collisions_(false)
  {
  }

  bool check_collisions_;
};

}  // descartes_core

#endif /* ROBOT_KINEMATICS_H_ */