kinematics_base.h

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/* Author: Sachin Chitta, Dave Coleman */

#ifndef MOVEIT_KINEMATICS_BASE_KINEMATICS_BASE_
#define MOVEIT_KINEMATICS_BASE_KINEMATICS_BASE_

#include <geometry_msgs/PoseStamped.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <boost/function.hpp>
#include <console_bridge/console.h>
#include <string>

namespace moveit
{
namespace core
{
class JointModelGroup;
class RobotState;
}
}

namespace kinematics
{

struct KinematicsQueryOptions
{
  KinematicsQueryOptions() :
    lock_redundant_joints(false),
    return_approximate_solution(false)
  {
  }

  bool lock_redundant_joints;
  bool return_approximate_solution;
};


class KinematicsBase
{
public:

  static const double DEFAULT_SEARCH_DISCRETIZATION; /* = 0.1 */
  static const double DEFAULT_TIMEOUT; /* = 1.0 */

  typedef boost::function<void(const geometry_msgs::Pose &ik_pose, const std::vector<double> &ik_solution, moveit_msgs::MoveItErrorCodes &error_code)> IKCallbackFn;

  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 = 0;

  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 = 0;

  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 = 0;

  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 = 0;

  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 = 0;

  virtual bool searchPositionIK(const std::vector<geometry_msgs::Pose> &ik_poses,
                                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 moveit::core::RobotState* context_state = NULL) const
  {
    // For IK solvers that do not support multiple poses, fall back to single pose call
    if (ik_poses.size() == 1)
    {
      // Check if a solution_callback function was provided and call the corresponding function
      if (solution_callback)
      {
        return searchPositionIK(ik_poses[0],
          ik_seed_state,
          timeout,
          consistency_limits,
          solution,
          solution_callback,
          error_code,
          options);
      }
      else
      {
        return searchPositionIK(ik_poses[0],
          ik_seed_state,
          timeout,
          consistency_limits,
          solution,
          error_code,
          options);
      }
    }

    // Otherwise throw error because this function should have been implemented
    logError("moveit.kinematics_base: This kinematic solver does not support searchPositionIK with multiple poses");
    return false;
  }

  virtual bool getPositionFK(const std::vector<std::string> &link_names,
                             const std::vector<double> &joint_angles,
                             std::vector<geometry_msgs::Pose> &poses) const = 0;

  virtual void setValues(const std::string& robot_description,
                         const std::string& group_name,
                         const std::string& base_frame,
                         const std::string& tip_frame,
                         double search_discretization);

  virtual void setValues(const std::string& robot_description,
                         const std::string& group_name,
                         const std::string& base_frame,
                         const std::vector<std::string>& tip_frames,
                         double search_discretization);

  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) = 0;

  virtual bool initialize(const std::string& robot_description,
                          const std::string& group_name,
                          const std::string& base_frame,
                          const std::vector<std::string>& tip_frames,
                          double search_discretization)
  {
    // For IK solvers that do not support multiple tip frames, fall back to single pose call
    if (tip_frames.size() == 1)
    {
      return initialize(robot_description,
        group_name,
        base_frame,
        tip_frames[0],
        search_discretization);
    }

    logError("moveit.kinematics_base: This kinematic solver does not support initialization with more than one tip frames");
    return false;
  }

  virtual const std::string& getGroupName() const
  {
    return group_name_;
  }

  virtual const std::string& getBaseFrame() const
  {
    return base_frame_;
  }

  virtual const std::string& getTipFrame() const
  {
    if (tip_frames_.size() > 1)
      logError("moveit.kinematics_base: This kinematic solver has more than one tip frame, do not call getTipFrame()");

    return tip_frame_; // for backwards-compatibility. should actually use tip_frames_[0]
  }

  virtual const std::vector<std::string>& getTipFrames() const
  {
    return tip_frames_;
  }

  virtual bool setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices);

  bool setRedundantJoints(const std::vector<std::string> &redundant_joint_names);

  virtual void getRedundantJoints(std::vector<unsigned int> &redundant_joint_indices) const
  {
    redundant_joint_indices = redundant_joint_indices_;
  }

  virtual const std::vector<std::string>& getJointNames() const = 0;

  virtual const std::vector<std::string>& getLinkNames() const = 0;


  virtual const bool supportsGroup(const moveit::core::JointModelGroup *jmg,
                                   std::string* error_text_out = NULL) const;

  void setSearchDiscretization(double sd)
  {
    search_discretization_ = sd;
  }

  double getSearchDiscretization() const
  {
    return search_discretization_;
  }

  void setDefaultTimeout(double timeout)
  {
    default_timeout_ = timeout;
  }

  double getDefaultTimeout() const
  {
    return default_timeout_;
  }

  virtual ~KinematicsBase() {}

  KinematicsBase() :
    tip_frame_("DEPRECATED"), // help users understand why this variable might not be set
                              // (if multiple tip frames provided, this variable will be unset)
    search_discretization_(DEFAULT_SEARCH_DISCRETIZATION),
    default_timeout_(DEFAULT_TIMEOUT)
  {}

protected:

  std::string robot_description_;
  std::string group_name_;
  std::string base_frame_;
  std::vector<std::string> tip_frames_;
  std::string tip_frame_; // DEPRECATED - this variable only still exists for backwards compatibility with
                          // previously generated custom ik solvers like IKFast
  double search_discretization_;
  double default_timeout_;
  std::vector<unsigned int> redundant_joint_indices_;

private:

  std::string removeSlash(const std::string &str) const;
};

typedef boost::shared_ptr<KinematicsBase> KinematicsBasePtr;
typedef boost::shared_ptr<const KinematicsBase> KinematicsBaseConstPtr;

};

#endif