chain.h

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/*
 * Copyright (C) 2015 Fetch Robotics Inc.
 * Copyright (C) 2013-2014 Unbounded Robotics Inc.
 *
 * 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.
 */

// Author: Michael Ferguson

#ifndef ROBOT_CALIBRATION_MODELS_CHAIN_H
#define ROBOT_CALIBRATION_MODELS_CHAIN_H

#include <string>
#include <kdl/chain.hpp>
#include <kdl/tree.hpp>
#include <robot_calibration/calibration_offset_parser.h>

#include <geometry_msgs/PointStamped.h>
#include <sensor_msgs/JointState.h>
#include <robot_calibration_msgs/CalibrationData.h>

namespace robot_calibration
{

class ChainModel
{
public:
  ChainModel(const std::string& name, KDL::Tree model, std::string root, std::string tip);
  virtual ~ChainModel() {}

  virtual std::vector<geometry_msgs::PointStamped> project(
    const robot_calibration_msgs::CalibrationData& data,
    const CalibrationOffsetParser& offsets);

  KDL::Frame getChainFK(const CalibrationOffsetParser& offsets,
                        const sensor_msgs::JointState& state);

  std::string name() const;

private:
  KDL::Chain chain_;

protected:
  std::string root_;
  std::string tip_;
  std::string name_;
};

KDL::Rotation rotation_from_axis_magnitude(const double x, const double y, const double z);

void axis_magnitude_from_rotation(const KDL::Rotation& r, double& x, double& y, double& z);

inline std::string ChainModel::name() const
{
  return name_;
}

}  // namespace robot_calibration

#endif  // ROBOT_CALIBRATION_MODELS_CHAIN_H