pr2_arm_ik_solver.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_SOLVER_
#define MOVEIT_PR2_ARM_IK_SOLVER_

#include <urdf/model.h>
#include <Eigen/Core>
#include <kdl/chainiksolver.hpp>
#include <moveit/pr2_arm_kinematics/pr2_arm_ik.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/PositionIKRequest.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf_conversions/tf_kdl.h>

namespace pr2_arm_kinematics
{

static const int NO_IK_SOLUTION = -1;
static const int TIMED_OUT = -2;

  class PR2ArmIKSolver : public KDL::ChainIkSolverPos
  {
    public:

    PR2ArmIKSolver(const urdf::Model &robot_model,
                   const std::string &root_frame_name,
                   const std::string &tip_frame_name,
                   const double &search_discretization_angle,
                   const int &free_angle);

    ~PR2ArmIKSolver(){ delete pr2_arm_ik_; };

    PR2ArmIK *pr2_arm_ik_;

    bool active_;

    int CartToJnt(const KDL::JntArray& q_init,
                  const KDL::Frame& p_in,
                  KDL::JntArray& q_out);

    int CartToJnt(const KDL::JntArray& q_init,
                  const KDL::Frame& p_in,
                  std::vector<KDL::JntArray> &q_out);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        std::vector<KDL::JntArray> &q_out,
                        const double &timeout);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        const double& consistency_limit);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsBase::IKCallbackFn &solution_callback);

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        const double& consistency_limit,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsBase::IKCallbackFn &solution_callback);

    void getSolverInfo(moveit_msgs::KinematicSolverInfo &response);

    std::string getFrameId();

    unsigned int getFreeAngle() const {
      return free_angle_;
    }

    void setFreeAngle(const unsigned int& free_angle) {
      free_angle_ = free_angle;
    }

  private:

    int CartToJntSearch(const KDL::JntArray& q_in,
                        const KDL::Frame& p_in,
                        KDL::JntArray &q_out,
                        const double &timeout,
                        bool use_consistency_limit,
                        const double& consistency_limit,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsBase::IKCallbackFn &solution_callback);

    bool getCount(int &count, const int &max_count, const int &min_count);

    double search_discretization_angle_;

    int free_angle_;

    std::string root_frame_name_;
  };
}
#endif// PR2_ARM_IK_SOLVER_H