srv_kinematics_plugin.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK, The University of Tokyo.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of JSK, The University of Tokyo nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Dave Coleman, Masaki Murooka
   Desc:   Connects MoveIt! to any inverse kinematics solver via a ROS service call
           Supports planning groups with multiple tip frames
           \todo: better support for mimic joints
           \todo: better support for redundant joints
*/

#ifndef MOVEIT_ROS_PLANNING_SRV_KINEMATICS_PLUGIN_
#define MOVEIT_ROS_PLANNING_SRV_KINEMATICS_PLUGIN_

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

// System
#include <memory>

// ROS msgs
#include <geometry_msgs/PoseStamped.h>
#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

// MoveIt!
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>

namespace srv_kinematics_plugin
{
class SrvKinematicsPlugin : public kinematics::KinematicsBase
{
public:
  SrvKinematicsPlugin();

  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_name, const std::string& tip_frame, double search_discretization)
  {
    std::vector<std::string> tip_frames;
    tip_frames.push_back(tip_frame);
    return initialize(robot_description, group_name, base_name, tip_frames, search_discretization);
  }

  virtual bool initialize(const std::string& robot_description, const std::string& group_name,
                          const std::string& base_name, const std::vector<std::string>& tip_frames,
                          double search_discretization);

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

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

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

protected:
  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 std::vector<double>& consistency_limits,
                   const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;

  virtual bool
  searchPositionIK(const std::vector<geometry_msgs::Pose>& ik_poses, 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 setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices);

private:
  bool timedOut(const ros::WallTime& start_time, double duration) const;

  int getJointIndex(const std::string& name) const;

  bool isRedundantJoint(unsigned int index) const;

  bool active_; 
  moveit_msgs::KinematicSolverInfo ik_group_info_; 
  unsigned int dimension_; 
  robot_model::RobotModelPtr robot_model_;
  robot_model::JointModelGroup* joint_model_group_;

  robot_state::RobotStatePtr robot_state_;

  int num_possible_redundant_joints_;

  std::shared_ptr<ros::ServiceClient> ik_service_client_;
};
}

#endif