kinematics_cache_ros.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2012, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
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00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00035 * Author: Sachin Chitta
00036 *********************************************************************/
00037 
00038 #include <kinematics_cache_ros/kinematics_cache_ros.h>
00039 
00040 // ROS
00041 #include <boost/shared_ptr.hpp>
00042 
00043 // MoveIt!
00044 #include <planning_models/kinematic_state.h>
00045 #include <rdf_loader/rdf_loader.h>
00046 #include <urdf_interface/model.h>
00047 #include <urdf/model.h>
00048 #include <srdf/model.h>
00049 
00050 namespace kinematics_cache_ros
00051 {
00052 bool KinematicsCacheROS::init(const kinematics_cache::KinematicsCache::Options& opt,
00053                               const std::string& kinematics_solver_name, const std::string& group_name,
00054                               const std::string& base_frame, const std::string& tip_frame, double search_discretization)
00055 {
00056   kinematics_loader_.reset(new pluginlib::ClassLoader<kinematics::KinematicsBase>("kinematics_base", "kinematics::"
00057                                                                                                      "KinematicsBase"));
00058 
00059   try
00060   {
00061     kinematics_solver_ = kinematics_loader_->createClassInstance(kinematics_solver_name);
00062   }
00063   catch (pluginlib::PluginlibException& ex)  // handle the class failing to load
00064   {
00065     ROS_ERROR("The plugin failed to load. Error: %s", ex.what());
00066     return false;
00067   }
00068 
00069   if (!kinematics_solver_->initialize(group_name, base_frame, tip_frame, search_discretization))
00070   {
00071     ROS_ERROR("Could not initialize solver");
00072     return false;
00073   }
00074 
00075   rdf_loader::RDFLoader rdf_loader;
00076   const boost::shared_ptr<srdf::Model>& srdf = rdf_loader.getSRDF();
00077   const boost::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
00078   kinematic_model_.reset(new planning_models::RobotModel(urdf_model, srdf));
00079 
00080   if (!initialize((kinematics::KinematicsBaseConstPtr&)kinematics_solver_,
00081                   (planning_models::RobotModelConstPtr&)kinematic_model_, opt))
00082   {
00083     return false;
00084   }
00085 
00086   return true;
00087 }
00088 }


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jun 19 2019 19:24:03