pr2_arm_ik.h

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*********************************************************************/

/* Author: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_H
#define MOVEIT_PR2_ARM_IK_H

#include <urdf/model.h>
#include <Eigen/Core>
#include <Eigen/LU>// provides LU decomposition
#include <kdl/chainiksolver.hpp>
#include <moveit/pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <moveit/pr2_arm_kinematics/pr2_arm_kinematics_constants.h>


namespace pr2_arm_kinematics
{
class PR2ArmIK
{
public:

  PR2ArmIK();
  ~PR2ArmIK(){};

  bool init(const urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name);

  void computeIKShoulderPan(const Eigen::Matrix4f &g_in, const double &shoulder_pan_initial_guess,std::vector<std::vector<double> > &solution) const;

  void computeIKShoulderRoll(const Eigen::Matrix4f &g_in, const double &shoulder_roll_initial_guess,std::vector<std::vector<double> > &solution) const;


  //  std::vector<std::vector<double> > solution_ik_;/// a vector of ik solutions

  void getSolverInfo(moveit_msgs::KinematicSolverInfo &info);

  moveit_msgs::KinematicSolverInfo solver_info_;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  private:

  void addJointToChainInfo(boost::shared_ptr<const urdf::Joint> joint,moveit_msgs::KinematicSolverInfo &info);

  bool checkJointLimits(const std::vector<double> &joint_values) const;

  bool checkJointLimits(const double &joint_value, const int &joint_num) const;

  Eigen::Matrix4f grhs_, gf_, home_inv_, home_;

  std::vector<double> angle_multipliers_;

  std::vector<double> solution_;

  double shoulder_upperarm_offset_, upperarm_elbow_offset_, elbow_wrist_offset_, shoulder_wrist_offset_, shoulder_elbow_offset_, torso_shoulder_offset_x_, torso_shoulder_offset_y_, torso_shoulder_offset_z_;

  std::vector<double> min_angles_;

  std::vector<double> max_angles_;

  std::vector<bool> continuous_joint_;

};
}
#endif// PR2_ARM_IK_H