kinematics_metrics.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
#define MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_

#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>

namespace kinematics_metrics
{
MOVEIT_CLASS_FORWARD(KinematicsMetrics);

class KinematicsMetrics
{
public:
  KinematicsMetrics(const robot_model::RobotModelConstPtr& robot_model)
    : robot_model_(robot_model), penalty_multiplier_(0.0)
  {
  }

  bool getManipulabilityIndex(const robot_state::RobotState& state, const std::string& group_name,
                              double& manipulability_index, bool translation = false) const;

  bool getManipulabilityIndex(const robot_state::RobotState& state,
                              const robot_model::JointModelGroup* joint_model_group, double& manipulability_index,
                              bool translation = false) const;

  bool getManipulabilityEllipsoid(const robot_state::RobotState& state, const std::string& group_name,
                                  Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;

  bool getManipulabilityEllipsoid(const robot_state::RobotState& state,
                                  const robot_model::JointModelGroup* joint_model_group, Eigen::MatrixXcd& eigen_values,
                                  Eigen::MatrixXcd& eigen_vectors) const;

  bool getManipulability(const robot_state::RobotState& state, const std::string& group_name, double& condition_number,
                         bool translation = false) const;

  bool getManipulability(const robot_state::RobotState& state, const robot_model::JointModelGroup* joint_model_group,
                         double& condition_number, bool translation = false) const;

  void setPenaltyMultiplier(double multiplier)
  {
    penalty_multiplier_ = fabs(multiplier);
  }

  const double& getPenaltyMultiplier() const
  {
    return penalty_multiplier_;
  }

protected:
  robot_model::RobotModelConstPtr robot_model_;

private:
  double getJointLimitsPenalty(const robot_state::RobotState& state,
                               const robot_model::JointModelGroup* joint_model_group) const;

  double penalty_multiplier_;
};
}

#endif