kinematics_service_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetPositionFK.h>

namespace move_group
{
class MoveGroupKinematicsService : public MoveGroupCapability
{
public:
  MoveGroupKinematicsService();

  virtual void initialize();

private:
  bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
  bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);

  void computeIK(
      moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution, moveit_msgs::MoveItErrorCodes& error_code,
      robot_state::RobotState& rs,
      const robot_state::GroupStateValidityCallbackFn& constraint = robot_state::GroupStateValidityCallbackFn()) const;

  ros::ServiceServer fk_service_;
  ros::ServiceServer ik_service_;
};
}

#endif