pr2_arm_kinematics_plugin.h

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/* Author: Sachin Chitta */

#ifndef PR2_ARM_IK_NODE_H
#define PR2_ARM_IK_NODE_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

#include <angles/angles.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <tf_conversions/tf_kdl.h>

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

#include <moveit/kinematics_base/kinematics_base.h>

namespace pr2_arm_kinematics
{
class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
{
public:

  PR2ArmKinematicsPlugin();

  bool isActive();

  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_frame,
                          const std::string& tip_frame,
                          double search_discretization);

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

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

protected:

  bool active_;
  int free_angle_;
  urdf::Model robot_model_;
  ros::NodeHandle node_handle_, root_handle_;
  boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_ik_solver_;
  ros::ServiceServer ik_service_,fk_service_,ik_solver_info_service_,fk_solver_info_service_;
  //tf::TransformListener tf_;
  std::string root_name_;
  int dimension_;
  boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
  KDL::Chain kdl_chain_;
  moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;

};
}

#endif