default_constraint_samplers.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_CONSTRAINT_SAMPLERS_
#define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_CONSTRAINT_SAMPLERS_

#include <moveit/constraint_samplers/constraint_sampler.h>
#include <moveit/macros/class_forward.h>
#include <random_numbers/random_numbers.h>

namespace constraint_samplers
{
MOVEIT_CLASS_FORWARD(JointConstraintSampler);

class JointConstraintSampler : public ConstraintSampler
{
public:
  JointConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name)
    : ConstraintSampler(scene, group_name)
  {
  }
  virtual bool configure(const moveit_msgs::Constraints& constr);

  bool configure(const std::vector<kinematic_constraints::JointConstraint>& jc);

  virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& ks, unsigned int max_attempts);

  virtual bool project(robot_state::RobotState& state, unsigned int max_attempts);

  std::size_t getConstrainedJointCount() const
  {
    return bounds_.size();
  }

  std::size_t getUnconstrainedJointCount() const
  {
    return unbounded_.size();
  }

  virtual const std::string& getName() const
  {
    static const std::string SAMPLER_NAME = "JointConstraintSampler";
    return SAMPLER_NAME;
  }

protected:
  struct JointInfo
  {
    JointInfo()
    {
      min_bound_ = -std::numeric_limits<double>::max();
      max_bound_ = std::numeric_limits<double>::max();
    }

    void potentiallyAdjustMinMaxBounds(double min, double max)
    {
      min_bound_ = std::max(min, min_bound_);
      max_bound_ = std::min(max, max_bound_);
    }

    double min_bound_;  
    double max_bound_;  
    std::size_t index_; 
  };

  virtual void clear();

  random_numbers::RandomNumberGenerator random_number_generator_; 
  std::vector<JointInfo> bounds_; 
  std::vector<const robot_model::JointModel*> unbounded_; 
  std::vector<unsigned int> uindex_; 
  std::vector<double> values_;       
};

struct IKSamplingPose
{
  IKSamplingPose();

  IKSamplingPose(const kinematic_constraints::PositionConstraint& pc);

  IKSamplingPose(const kinematic_constraints::OrientationConstraint& oc);

  IKSamplingPose(const kinematic_constraints::PositionConstraint& pc,
                 const kinematic_constraints::OrientationConstraint& oc);

  IKSamplingPose(const kinematic_constraints::PositionConstraintPtr& pc);

  IKSamplingPose(const kinematic_constraints::OrientationConstraintPtr& oc);

  IKSamplingPose(const kinematic_constraints::PositionConstraintPtr& pc,
                 const kinematic_constraints::OrientationConstraintPtr& oc);

  kinematic_constraints::PositionConstraintPtr position_constraint_; 
  kinematic_constraints::OrientationConstraintPtr
      orientation_constraint_; 
};

MOVEIT_CLASS_FORWARD(IKConstraintSampler);

class IKConstraintSampler : public ConstraintSampler
{
public:
  IKConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name)
    : ConstraintSampler(scene, group_name)
  {
  }

  virtual bool configure(const moveit_msgs::Constraints& constr);

  bool configure(const IKSamplingPose& sp);

  double getIKTimeout() const
  {
    return ik_timeout_;
  }

  void setIKTimeout(double timeout)
  {
    ik_timeout_ = timeout;
  }

  const kinematic_constraints::PositionConstraintPtr& getPositionConstraint() const
  {
    return sampling_pose_.position_constraint_;
  }
  const kinematic_constraints::OrientationConstraintPtr& getOrientationConstraint() const
  {
    return sampling_pose_.orientation_constraint_;
  }

  double getSamplingVolume() const;

  const std::string& getLinkName() const;

  virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
                      unsigned int max_attempts);

  virtual bool project(robot_state::RobotState& state, unsigned int max_attempts);
  bool samplePose(Eigen::Vector3d& pos, Eigen::Quaterniond& quat, const robot_state::RobotState& ks,
                  unsigned int max_attempts);

  virtual const std::string& getName() const
  {
    static const std::string SAMPLER_NAME = "IKConstraintSampler";
    return SAMPLER_NAME;
  }

protected:
  virtual void clear();

  bool loadIKSolver();

  bool callIK(const geometry_msgs::Pose& ik_query,
              const kinematics::KinematicsBase::IKCallbackFn& adapted_ik_validity_callback, double timeout,
              robot_state::RobotState& state, bool use_as_seed);
  bool sampleHelper(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
                    unsigned int max_attempts, bool project);
  bool validate(robot_state::RobotState& state) const;

  random_numbers::RandomNumberGenerator random_number_generator_; 
  IKSamplingPose sampling_pose_;                                  
  kinematics::KinematicsBaseConstPtr kb_;                         
  double ik_timeout_;                                             
  std::string ik_frame_;                                          
  bool transform_ik_; 
  bool need_eef_to_ik_tip_transform_; 
  Eigen::Affine3d eef_to_ik_tip_transform_; 
};
}

#endif