moveit_state_adapter.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Dan Solomon
 *
 * 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 MOVEIT_STATE_ADAPTER_H_
#define MOVEIT_STATE_ADAPTER_H_

#include "descartes_core/robot_model.h"
#include "descartes_trajectory/cart_trajectory_pt.h"
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <string>

namespace descartes_moveit
{
class MoveitStateAdapter : public descartes_core::RobotModel
{
public:
  MoveitStateAdapter();

  virtual ~MoveitStateAdapter()
  {
  }

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

  virtual bool initialize(robot_model::RobotModelConstPtr robot_model, const std::string &group_name,
                          const std::string &world_frame, const std::string &tcp_frame);

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

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

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

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

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

  virtual int getDOF() const;

  virtual bool isValidMove(const std::vector<double> &from_joint_pose, const std::vector<double> &to_joint_pose,
                           double dt) const;
  void setSeedStates(const std::vector<std::vector<double> > &seeds)
  {
    seed_states_ = seeds;
  }

  const std::vector<std::vector<double> > &getSeedStates() const
  {
    return seed_states_;
  }

  moveit::core::RobotStatePtr getState()
  {
    return robot_state_;
  }

  void setState(const moveit::core::RobotState &state);

protected:
  bool getIK(const Eigen::Affine3d &pose, std::vector<double> &joint_pose) const;

  bool isInCollision(const std::vector<double> &joint_pose) const;

  std::vector<double> velocity_limits_;

  mutable moveit::core::RobotStatePtr robot_state_;

  planning_scene::PlanningScenePtr planning_scene_;

  robot_model::RobotModelConstPtr robot_model_ptr_;

  robot_model_loader::RobotModelLoaderPtr robot_model_loader_;

  const moveit::core::JointModelGroup *joint_group_;

  std::vector<std::vector<double> > seed_states_;

  std::string group_name_;

  std::string tool_frame_;

  std::string world_frame_;

  descartes_core::Frame world_to_root_;
};

}  // descartes_moveit

#endif /* MOVEIT_STATE_ADAPTER_H_ */