cartesianconfiguration.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTESIANCONFIGURATION_H
#define CARTESIANCONFIGURATION_H

#include <vector>
#include <sstream>

#include <boost/optional.hpp>

#include <eigen_conversions/eigen_msg.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/kinematic_constraints/utils.h>

#include "robotconfiguration.h"
#include "jointconfiguration.h"

namespace pilz_industrial_motion_testutils
{
class CartesianConfiguration : public RobotConfiguration
{
public:
  CartesianConfiguration();

  CartesianConfiguration(const std::string& group_name,
                         const std::string& link_name,
                         const std::vector<double>& config);

  CartesianConfiguration(const std::string& group_name,
                         const std::string& link_name,
                         const std::vector<double>& config,
                         const moveit::core::RobotModelConstPtr& robot_model);

public:
  virtual moveit_msgs::Constraints toGoalConstraints() const override;
  virtual moveit_msgs::RobotState toMoveitMsgsRobotState() const override;

  void setLinkName(const std::string& link_name);
  const std::string& getLinkName() const;

  void setPose(const geometry_msgs::Pose& pose);
  const geometry_msgs::Pose& getPose() const;
  geometry_msgs::Pose& getPose();

  void setSeed(const JointConfiguration& config);
  const JointConfiguration& getSeed() const;
  bool hasSeed() const;

  void setPoseTolerance(const double tol);
  const boost::optional<double> getPoseTolerance() const;

  void setAngleTolerance(const double tol);
  const boost::optional<double> getAngleTolerance() const;

private:
  static geometry_msgs::Pose toPose(const std::vector<double>& pose);
  static geometry_msgs::PoseStamped toStampedPose(const geometry_msgs::Pose& pose);

private:
  std::string link_name_;
  geometry_msgs::Pose pose_;

  boost::optional<double> tolerance_pose_{ boost::none };

  boost::optional<double> tolerance_angle_{ boost::none };

  boost::optional<JointConfiguration> seed_{ boost::none };
};

std::ostream& operator<<(std::ostream&, const CartesianConfiguration&);

inline void CartesianConfiguration::setLinkName(const std::string& link_name)
{
  link_name_ = link_name;
}

inline const std::string& CartesianConfiguration::getLinkName() const
{
  return link_name_;
}

inline void CartesianConfiguration::setPose(const geometry_msgs::Pose& pose)
{
  pose_ = pose;
}

inline const geometry_msgs::Pose& CartesianConfiguration::getPose() const
{
  return pose_;
}

inline geometry_msgs::Pose& CartesianConfiguration::getPose()
{
  return pose_;
}

inline moveit_msgs::Constraints CartesianConfiguration::toGoalConstraints() const
{
  if (!tolerance_pose_ || !tolerance_angle_)
  {
    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_));
  }
  else
  {
    return kinematic_constraints::constructGoalConstraints(
        link_name_, toStampedPose(pose_), tolerance_pose_.value(), tolerance_angle_.value());
  }
}

inline void CartesianConfiguration::setSeed(const JointConfiguration& config)
{
  seed_ = config;
}

inline const JointConfiguration& CartesianConfiguration::getSeed() const
{
  return seed_.value();
}

inline bool CartesianConfiguration::hasSeed() const
{
  return seed_.is_initialized();
}

inline void CartesianConfiguration::setPoseTolerance(const double tol)
{
  tolerance_pose_ = tol;
}

inline const boost::optional<double> CartesianConfiguration::getPoseTolerance() const
{
  return tolerance_pose_;
}

inline void CartesianConfiguration::setAngleTolerance(const double tol)
{
  tolerance_angle_ = tol;
}

inline const boost::optional<double> CartesianConfiguration::getAngleTolerance() const
{
  return tolerance_angle_;
}

}  // namespace pilz_industrial_motion_testutils

#endif  // CARTESIANCONFIGURATION_H