kinematics_plugin_loader.h

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/* Author: Ioan Sucan, Dave Coleman */

#ifndef MOVEIT_KINEMATICS_PLUGIN_LOADER_
#define MOVEIT_KINEMATICS_PLUGIN_LOADER_

#include <boost/function.hpp>
#include <moveit/macros/class_forward.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/kinematics_base/kinematics_base.h>

namespace kinematics_plugin_loader
{
MOVEIT_CLASS_FORWARD(KinematicsPluginLoader);

class KinematicsPluginLoader
{
public:
  KinematicsPluginLoader(const std::string& robot_description = "robot_description",
                         double default_search_resolution = 0.0)
    : robot_description_(robot_description), default_search_resolution_(default_search_resolution)
  {
  }

  KinematicsPluginLoader(const std::string& solver_plugin, double solve_timeout, unsigned int ik_attempts,
                         const std::string& robot_description = "robot_description",
                         double default_search_resolution = 0.0)
    : robot_description_(robot_description)
    , default_search_resolution_(default_search_resolution)
    , default_solver_plugin_(solver_plugin)
    , default_solver_timeout_(solve_timeout)
    , default_ik_attempts_(ik_attempts)
  {
  }

  robot_model::SolverAllocatorFn getLoaderFunction();

  robot_model::SolverAllocatorFn getLoaderFunction(const srdf::ModelSharedPtr& srdf_model);

  const std::vector<std::string>& getKnownGroups() const
  {
    return groups_;
  }

  const std::map<std::string, double>& getIKTimeout() const
  {
    return ik_timeout_;
  }

  const std::map<std::string, unsigned int>& getIKAttempts() const
  {
    return ik_attempts_;
  }

  void status() const;

private:
  std::string robot_description_;
  double default_search_resolution_;

  MOVEIT_CLASS_FORWARD(KinematicsLoaderImpl);
  KinematicsLoaderImplPtr loader_;

  std::vector<std::string> groups_;
  std::map<std::string, double> ik_timeout_;
  std::map<std::string, unsigned int> ik_attempts_;

  // default configuration
  std::string default_solver_plugin_;
  double default_solver_timeout_;
  unsigned int default_ik_attempts_;
};
}

#endif