trac_ik_kinematics_plugin.hpp

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#ifndef TRAC_IK_KINEMATICS_PLUGIN_
#define TRAC_IK_KINEMATICS_PLUGIN_
 
#include <moveit/kinematics_base/kinematics_base.h>
#include <kdl/chain.hpp>
 
namespace trac_ik_kinematics_plugin
{
 
class TRAC_IKKinematicsPlugin : public kinematics::KinematicsBase
{
  std::vector<std::string> joint_names_;
  std::vector<std::string> link_names_;
 
  uint num_joints_;
  bool active_; // Internal variable that indicates whether solvers are configured and ready
 
  KDL::Chain chain;
  bool position_ik_;
 
  KDL::JntArray joint_min, joint_max;
 
  std::string solve_type;
 
public:
  const std::vector<std::string>& getJointNames() const
  {
    return joint_names_;
  }
  const std::vector<std::string>& getLinkNames() const
  {
    return link_names_;
  }
 
 
  TRAC_IKKinematicsPlugin(): active_(false), position_ik_(false) {}
 
  ~TRAC_IKKinematicsPlugin()
  {
  }
 
  // Returns the first IK solution that is within joint limits, this is called by get_ik() service
  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;
 
  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;
 
  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;
 
  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;
 
  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;
 
  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) const;
 
 
  bool getPositionFK(const std::vector<std::string> &link_names,
                     const std::vector<double> &joint_angles,
                     std::vector<geometry_msgs::Pose> &poses) const;
 
 
  bool initialize(const std::string &robot_description,
                  const std::string& group_name,
                  const std::string& base_name,
                  const std::string& tip_name,
                  double search_discretization);
 
private:
 
  int getKDLSegmentIndex(const std::string &name) const;
 
}; // end class
}
 
#endif