robot_model.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ioan A. Sucan
 *  Copyright (c) 2008-2013, 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, Inc. 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: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_

#include <moveit/macros/class_forward.h>
#include <moveit/exceptions/exceptions.h>
#include <console_bridge/console.h>
#include <urdf_model/model.h>
#include <srdfdom/model.h>

// joint types
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_model/fixed_joint_model.h>
#include <moveit/robot_model/floating_joint_model.h>
#include <moveit/robot_model/planar_joint_model.h>
#include <moveit/robot_model/revolute_joint_model.h>
#include <moveit/robot_model/prismatic_joint_model.h>

#include <Eigen/Geometry>
#include <iostream>

namespace moveit
{
namespace core
{
MOVEIT_CLASS_FORWARD(RobotModel);

class RobotModel
{
public:
  RobotModel(const boost::shared_ptr<const urdf::ModelInterface>& urdf_model,
             const boost::shared_ptr<const srdf::Model>& srdf_model);

  ~RobotModel();

  const std::string& getName() const
  {
    return model_name_;
  }

  const std::string& getModelFrame() const
  {
    return model_frame_;
  }

  bool isEmpty() const
  {
    return root_link_ == NULL;
  }

  const boost::shared_ptr<const urdf::ModelInterface>& getURDF() const
  {
    return urdf_;
  }

  const boost::shared_ptr<const srdf::Model>& getSRDF() const
  {
    return srdf_;
  }

  void printModelInfo(std::ostream& out) const;

  const JointModel* getRootJoint() const;

  const std::string& getRootJointName() const
  {
    return getRootJoint()->getName();
  }

  bool hasJointModel(const std::string& name) const;

  const JointModel* getJointModel(const std::string& joint) const;

  const JointModel* getJointModel(int index) const;

  JointModel* getJointModel(const std::string& joint);

  const std::vector<const JointModel*>& getJointModels() const
  {
    return joint_model_vector_const_;
  }

  const std::vector<JointModel*>& getJointModels()
  {
    return joint_model_vector_;
  }

  const std::vector<std::string>& getJointModelNames() const
  {
    return joint_model_names_vector_;
  }

  const std::vector<const JointModel*>& getActiveJointModels() const
  {
    return active_joint_model_vector_const_;
  }

  const std::vector<JointModel*>& getActiveJointModels()
  {
    return active_joint_model_vector_;
  }

  const std::vector<const JointModel*>& getSingleDOFJointModels() const
  {
    return single_dof_joints_;
  }

  const std::vector<const JointModel*>& getMultiDOFJointModels() const
  {
    return multi_dof_joints_;
  }

  const std::vector<const JointModel*>& getContinuousJointModels() const
  {
    return continuous_joint_model_vector_;
  }

  const std::vector<const JointModel*>& getMimicJointModels() const
  {
    return mimic_joints_;
  }

  const JointModel* getJointOfVariable(int variable_index) const
  {
    return joints_of_variable_[variable_index];
  }

  const JointModel* getJointOfVariable(const std::string& variable) const
  {
    return joints_of_variable_[getVariableIndex(variable)];
  }

  std::size_t getJointModelCount() const
  {
    return joint_model_vector_.size();
  }

  const LinkModel* getRootLink() const;

  const std::string& getRootLinkName() const
  {
    return getRootLink()->getName();
  }

  bool hasLinkModel(const std::string& name) const;

  const LinkModel* getLinkModel(const std::string& link) const;

  const LinkModel* getLinkModel(int index) const;

  LinkModel* getLinkModel(const std::string& link);

  const std::vector<const LinkModel*>& getLinkModels() const
  {
    return link_model_vector_const_;
  }

  const std::vector<LinkModel*>& getLinkModels()
  {
    return link_model_vector_;
  }

  const std::vector<std::string>& getLinkModelNames() const
  {
    return link_model_names_vector_;
  }

  const std::vector<const LinkModel*>& getLinkModelsWithCollisionGeometry() const
  {
    return link_models_with_collision_geometry_vector_;
  }

  const std::vector<std::string>& getLinkModelNamesWithCollisionGeometry() const
  {
    return link_model_names_with_collision_geometry_vector_;
  }

  std::size_t getLinkModelCount() const
  {
    return link_model_vector_.size();
  }

  std::size_t getLinkGeometryCount() const
  {
    return link_geometry_count_;
  }

  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values) const;

  void getVariableDefaultPositions(double* values) const;

  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, std::vector<double>& values) const
  {
    values.resize(variable_count_);
    getVariableRandomPositions(rng, &values[0]);
  }

  void getVariableDefaultPositions(std::vector<double>& values) const
  {
    values.resize(variable_count_);
    getVariableDefaultPositions(&values[0]);
  }

  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng,
                                  std::map<std::string, double>& values) const;

  void getVariableDefaultPositions(std::map<std::string, double>& values) const;

  bool enforcePositionBounds(double* state) const
  {
    return enforcePositionBounds(state, active_joint_models_bounds_);
  }
  bool enforcePositionBounds(double* state, const JointBoundsVector& active_joint_bounds) const;
  bool satisfiesPositionBounds(const double* state, double margin = 0.0) const
  {
    return satisfiesPositionBounds(state, active_joint_models_bounds_, margin);
  }
  bool satisfiesPositionBounds(const double* state, const JointBoundsVector& active_joint_bounds,
                               double margin = 0.0) const;
  double getMaximumExtent() const
  {
    return getMaximumExtent(active_joint_models_bounds_);
  }
  double getMaximumExtent(const JointBoundsVector& active_joint_bounds) const;

  double distance(const double* state1, const double* state2) const;
  void interpolate(const double* from, const double* to, double t, double* state) const;

  bool hasJointModelGroup(const std::string& group) const;

  const JointModelGroup* getJointModelGroup(const std::string& name) const;

  JointModelGroup* getJointModelGroup(const std::string& name);

  const std::vector<const JointModelGroup*>& getJointModelGroups() const
  {
    return joint_model_groups_const_;
  }

  const std::vector<JointModelGroup*>& getJointModelGroups()
  {
    return joint_model_groups_;
  }

  const std::vector<std::string>& getJointModelGroupNames() const
  {
    return joint_model_group_names_;
  }

  bool hasEndEffector(const std::string& eef) const;

  const JointModelGroup* getEndEffector(const std::string& name) const;

  JointModelGroup* getEndEffector(const std::string& name);

  const std::vector<const JointModelGroup*>& getEndEffectors() const
  {
    return end_effectors_;
  }

  std::size_t getVariableCount() const
  {
    return variable_count_;
  }

  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }

  const VariableBounds& getVariableBounds(const std::string& variable) const
  {
    return getJointOfVariable(variable)->getVariableBounds(variable);
  }

  const JointBoundsVector& getActiveJointModelsBounds() const
  {
    return active_joint_models_bounds_;
  }

  void getMissingVariableNames(const std::vector<std::string>& variables,
                               std::vector<std::string>& missing_variables) const;

  int getVariableIndex(const std::string& variable) const;

  const JointModel* getCommonRoot(const JointModel* a, const JointModel* b) const
  {
    if (!a)
      return b;
    if (!b)
      return a;
    return joint_model_vector_[common_joint_roots_[a->getJointIndex() * joint_model_vector_.size() +
                                                   b->getJointIndex()]];
  }

  void setKinematicsAllocators(const std::map<std::string, SolverAllocatorFn>& allocators);

protected:
  void computeFixedTransforms(const LinkModel* link, const Eigen::Affine3d& transform,
                              LinkTransformMap& associated_transforms);

  const JointModel* computeCommonRoot(const JointModel* a, const JointModel* b) const;

  void updateMimicJoints(double* values) const;

  // GENERIC INFO

  std::string model_name_;

  std::string model_frame_;

  boost::shared_ptr<const srdf::Model> srdf_;

  boost::shared_ptr<const urdf::ModelInterface> urdf_;

  // LINKS

  const LinkModel* root_link_;

  LinkModelMap link_model_map_;

  std::vector<LinkModel*> link_model_vector_;

  std::vector<const LinkModel*> link_model_vector_const_;

  std::vector<std::string> link_model_names_vector_;

  std::vector<const LinkModel*> link_models_with_collision_geometry_vector_;

  std::vector<std::string> link_model_names_with_collision_geometry_vector_;

  std::size_t link_geometry_count_;

  // JOINTS

  const JointModel* root_joint_;

  JointModelMap joint_model_map_;

  std::vector<JointModel*> joint_model_vector_;

  std::vector<const JointModel*> joint_model_vector_const_;

  std::vector<std::string> joint_model_names_vector_;

  std::vector<JointModel*> active_joint_model_vector_;

  std::vector<const JointModel*> active_joint_model_vector_const_;

  std::vector<const JointModel*> continuous_joint_model_vector_;

  std::vector<const JointModel*> mimic_joints_;

  std::vector<const JointModel*> single_dof_joints_;

  std::vector<const JointModel*> multi_dof_joints_;

  std::vector<int> common_joint_roots_;

  // INDEXING

  std::vector<std::string> variable_names_;

  std::size_t variable_count_;

  VariableIndexMap joint_variables_index_map_;

  std::vector<int> active_joint_model_start_index_;

  JointBoundsVector active_joint_models_bounds_;

  std::vector<const JointModel*> joints_of_variable_;

  // GROUPS

  JointModelGroupMap joint_model_group_map_;

  JointModelGroupMap end_effectors_map_;

  std::vector<JointModelGroup*> joint_model_groups_;

  std::vector<const JointModelGroup*> joint_model_groups_const_;

  std::vector<std::string> joint_model_group_names_;

  std::vector<const JointModelGroup*> end_effectors_;

  void buildModel(const urdf::ModelInterface& urdf_model, const srdf::Model& srdf_model);

  void buildGroups(const srdf::Model& srdf_model);

  void buildGroupsInfo_Subgroups(const srdf::Model& srdf_model);

  void buildGroupsInfo_EndEffectors(const srdf::Model& srdf_model);

  void buildMimic(const urdf::ModelInterface& urdf_model);

  void buildGroupStates(const srdf::Model& srdf_model);

  void buildJointInfo();

  void computeDescendants();

  void computeCommonRoots();

  JointModel* buildRecursive(LinkModel* parent, const urdf::Link* link, const srdf::Model& srdf_model);

  bool addJointModelGroup(const srdf::Model::Group& group);

  JointModel* constructJointModel(const urdf::Joint* urdf_joint_model, const urdf::Link* child_link,
                                  const srdf::Model& srdf_model);

  LinkModel* constructLinkModel(const urdf::Link* urdf_link);

  shapes::ShapePtr constructShape(const urdf::Geometry* geom);
};
}
}

namespace robot_model = moveit::core;
namespace robot_state = moveit::core;

#endif