hand_kinematics_plugin.h

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* Author: Sachin Chitta
*        Modified by Guillaume WALCK (UPMC) 2012
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#ifndef HAND_KINEMATICS_HAND_KINEMATICS_PLUGIN_H
#define HAND_KINEMATICS_HAND_KINEMATICS_PLUGIN_H

#include <ros/ros.h>
#include <angles/angles.h>

#include <hand_kinematics/hand_kinematics_utils.h>

#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>

#include <kdl/jntarray.hpp>
#include <kdl_coupling/chain_coupling.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl_coupling/chainiksolverpos_nr_jl_coupling.hpp>
#include <kdl_coupling/chainiksolvervel_wdls_coupling.hpp>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <urdf/model.h>
#include <string>
#include <vector>

#include <tf_conversions/tf_kdl.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <boost/shared_ptr.hpp>
#include <moveit/kinematics_base/kinematics_base.h>

namespace hand_kinematics
{
class HandKinematicsPlugin :
      public kinematics::KinematicsBase
{
public:
HandKinematicsPlugin();

bool isActive();

virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                           const std::vector<double> &ik_seed_state,
                           std::vector<double> &solution,
                           moveit_msgs::MoveItErrorCodes &error_code,
                           const kinematics::KinematicsQueryOptions &options =
                             kinematics::KinematicsQueryOptions()) const;

virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                              const std::vector<double> &ik_seed_state,
                              double timeout,
                              std::vector<double> &solution,
                              moveit_msgs::MoveItErrorCodes &error_code,
                              const kinematics::KinematicsQueryOptions &options =
                                kinematics::KinematicsQueryOptions()) const;


virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                              const std::vector<double> &ik_seed_state,
                              double timeout,
                              const std::vector<double> &consistency_limits,
                              std::vector<double> &solution,
                              moveit_msgs::MoveItErrorCodes &error_code,
                              const kinematics::KinematicsQueryOptions &options =
                                kinematics::KinematicsQueryOptions()) const;


virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                              const std::vector<double> &ik_seed_state,
                              double timeout,
                              std::vector<double> &solution,
                              const IKCallbackFn &solution_callback,
                              moveit_msgs::MoveItErrorCodes &error_code,
                              const kinematics::KinematicsQueryOptions &options =
                                kinematics::KinematicsQueryOptions()) const;

virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                              const std::vector<double> &ik_seed_state,
                              double timeout,
                              const std::vector<double> &consistency_limits,
                              std::vector<double> &solution,
                              const IKCallbackFn &solution_callback,
                              moveit_msgs::MoveItErrorCodes &error_code,
                              const kinematics::KinematicsQueryOptions &options =
                                kinematics::KinematicsQueryOptions()) const;


virtual bool getPositionFK(const std::vector<std::string> &link_names,
                           const std::vector<double> &joint_angles,
                           std::vector<geometry_msgs::Pose> &poses) const;


virtual bool initialize(const std::string &robot_description,
                        const std::string &group_name,
                        const std::string &base_frame,
                        const std::string &tip_frame,
                        double search_discretization);


const std::vector<std::string> &getJointNames() const;

const std::vector<std::string> &getLinkNames() const;

protected:
bool active_;
urdf::Model robot_model_;
double search_discretization_;
ros::NodeHandle node_handle_, root_handle_;

KDL::ChainFkSolverPos_recursive *fk_solver;
KDL::ChainIkSolverPos_NR_JL_coupling *ik_solver_pos;
KDL::ChainIkSolverVel_wdls_coupling *ik_solver_vel;
moveit_msgs::KinematicSolverInfo solver_info_;

std::string finger_base_name;
int dimension_;
boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;

KDL::Chain_coupling kdl_chain_;

KDL::JntArray joint_min_, joint_max_;

moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;

void generateRandomJntSeed(KDL::JntArray &jnt_pos_in) const;
};
}  // namespace hand_kinematics

#endif  // HAND_KINEMATICS_HAND_KINEMATICS_PLUGIN_H