ik_tester_fast.h

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// Author(s): Kaijen Hsiao (based on Gil's grasp_tester_fast.h)

#ifndef _IK_TESTER_FAST_
#define _IK_TESTER_FAST_

#include <arm_kinematics_constraint_aware/arm_kinematics_solver_constraint_aware.h>
#include <pluginlib/class_loader.h>

namespace object_manipulator {


inline geometry_msgs::Vector3 doNegate(const geometry_msgs::Vector3& vec) {
  geometry_msgs::Vector3 v;
  v.x = - vec.x;
  v.y = - vec.y;
  v.z = - vec.z;
  return v;
}

class IKTesterFast
{
protected:
  
  std::map<std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*> ik_solver_map_;
  
  unsigned int redundancy_;
  
  ros::Publisher vis_marker_array_publisher_;
  ros::Publisher vis_marker_publisher_;

  planning_environment::CollisionModels* getCollisionModels();
  planning_models::KinematicState* getPlanningSceneState();

  planning_environment::CollisionModels* cm_;
  planning_models::KinematicState* state_;

 public:

  pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;

  IKTesterFast(planning_environment::CollisionModels* cm = NULL,
                  const std::string& plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin");

  ~IKTesterFast();

  void setPlanningSceneState(planning_models::KinematicState* state) {
    state_ = state;
  }

  void getGroupJoints(const std::string& group_name,
                      std::vector<std::string>& group_links);
  
  void getGroupLinks(const std::string& group_name,
                     std::vector<std::string>& group_links);

  void testIKSet(std::string arm_name, const std::vector<geometry_msgs::PoseStamped> &test_poses,
                 bool return_on_first_hit, std::vector<sensor_msgs::JointState> &solutions_arr,
                 std::vector<arm_navigation_msgs::ArmNavigationErrorCodes> &error_codes);

};

} //namespace object_manipulator

#endif