kinematics_base.cpp

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/* Author: Sachin Chitta, Dave Coleman */

#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model/joint_model_group.h>

const double kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION = 0.1;
const double kinematics::KinematicsBase::DEFAULT_TIMEOUT = 1.0;

void kinematics::KinematicsBase::setValues(const std::string& robot_description, const std::string& group_name,
                                           const std::string& base_frame, const std::string& tip_frame,
                                           double search_discretization)
{
  robot_description_ = robot_description;
  group_name_ = group_name;
  base_frame_ = removeSlash(base_frame);
  tip_frame_ = removeSlash(tip_frame);  // for backwards compatibility
  tip_frames_.push_back(removeSlash(tip_frame));
  search_discretization_ = search_discretization;
  setSearchDiscretization(search_discretization);
}

void kinematics::KinematicsBase::setValues(const std::string& robot_description, const std::string& group_name,
                                           const std::string& base_frame, const std::vector<std::string>& tip_frames,
                                           double search_discretization)
{
  robot_description_ = robot_description;
  group_name_ = group_name;
  base_frame_ = removeSlash(base_frame);
  search_discretization_ = search_discretization;
  setSearchDiscretization(search_discretization);

  // Copy tip frames to local vector after stripping slashes
  tip_frames_.clear();
  for (std::size_t i = 0; i < tip_frames.size(); ++i)
    tip_frames_.push_back(removeSlash(tip_frames[i]));

  // Copy tip frames to our legacy variable if only one tip frame is passed in the input vector. Remove eventually.
  if (tip_frames.size() == 1)
    tip_frame_ = removeSlash(tip_frames[0]);
}

bool kinematics::KinematicsBase::setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices)
{
  for (std::size_t i = 0; i < redundant_joint_indices.size(); ++i)
  {
    if (redundant_joint_indices[i] >= getJointNames().size())
    {
      return false;
    }
  }
  redundant_joint_indices_ = redundant_joint_indices;
  setSearchDiscretization(DEFAULT_SEARCH_DISCRETIZATION);

  return true;
}

bool kinematics::KinematicsBase::setRedundantJoints(const std::vector<std::string>& redundant_joint_names)
{
  const std::vector<std::string>& jnames = getJointNames();
  std::vector<unsigned int> redundant_joint_indices;
  for (std::size_t i = 0; i < redundant_joint_names.size(); ++i)
    for (std::size_t j = 0; j < jnames.size(); ++j)
      if (jnames[j] == redundant_joint_names[i])
      {
        redundant_joint_indices.push_back(j);
        break;
      }
  return redundant_joint_indices.size() == redundant_joint_names.size() ? setRedundantJoints(redundant_joint_indices) :
                                                                          false;
}

std::string kinematics::KinematicsBase::removeSlash(const std::string& str) const
{
  return (!str.empty() && str[0] == '/') ? removeSlash(str.substr(1)) : str;
}

bool kinematics::KinematicsBase::supportsGroup(const moveit::core::JointModelGroup* jmg,
                                               std::string* error_text_out) const
{
  // Default implementation for legacy solvers:
  if (!jmg->isChain())
  {
    if (error_text_out)
    {
      *error_text_out = "This plugin only supports joint groups which are chains";
    }
    return false;
  }

  return true;
}

bool kinematics::KinematicsBase::getPositionIK(const std::vector<geometry_msgs::Pose>& ik_poses,
                                               const std::vector<double>& ik_seed_state,
                                               std::vector<std::vector<double> >& solutions,
                                               kinematics::KinematicsResult& result,
                                               const kinematics::KinematicsQueryOptions& options) const
{
  std::vector<double> solution;
  result.solution_percentage = 0.0;

  bool supported = false;
  if (std::find(supported_methods_.begin(), supported_methods_.end(), options.discretization_method) ==
      supported_methods_.end())
  {
    result.kinematic_error = kinematics::KinematicErrors::UNSUPORTED_DISCRETIZATION_REQUESTED;
    return false;
  }

  if (ik_poses.size() != 1)
  {
    logError("moveit.kinematics_base: This kinematic solver does not support getPositionIK for multiple poses");
    result.kinematic_error = kinematics::KinematicErrors::MULTIPLE_TIPS_NOT_SUPPORTED;
    return false;
  }

  if (ik_poses.size() == 0)
  {
    logError("moveit.kinematics_base: Input ik_poses array is empty");
    result.kinematic_error = kinematics::KinematicErrors::EMPTY_TIP_POSES;
    return false;
  }

  moveit_msgs::MoveItErrorCodes error_code;
  if (getPositionIK(ik_poses[0], ik_seed_state, solution, error_code, options))
  {
    solutions.resize(1);
    solutions[0] = solution;
    result.kinematic_error = kinematics::KinematicErrors::OK;
    result.solution_percentage = 1.0f;
  }
  else
  {
    result.kinematic_error = kinematics::KinematicErrors::NO_SOLUTION;
    return false;
  }

  return true;
}