robot_model.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ioan A. Sucan
 *  Copyright (c) 2008-2013, 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: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_

#include <moveit/macros/class_forward.h>
#include <moveit/exceptions/exceptions.h>
#include <console_bridge/console.h>
#include <urdf_model/model.h>
#include <srdfdom/model.h>

// joint types
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_model/fixed_joint_model.h>
#include <moveit/robot_model/floating_joint_model.h>
#include <moveit/robot_model/planar_joint_model.h>
#include <moveit/robot_model/revolute_joint_model.h>
#include <moveit/robot_model/prismatic_joint_model.h>

#include <Eigen/Geometry>
#include <iostream>

namespace moveit
{
namespace core
{

class RobotModel
{
public:
  
  RobotModel(const boost::shared_ptr<const urdf::ModelInterface> &urdf_model,
             const boost::shared_ptr<const srdf::Model> &srdf_model);
  
  ~RobotModel();
  
  const std::string& getName() const
  {
    return model_name_;
  }
  
  const std::string& getModelFrame() const
  {
    return model_frame_;
  }

  bool isEmpty() const
  {
    return root_link_ == NULL;
  }
  
  const boost::shared_ptr<const urdf::ModelInterface>& getURDF() const
  {
    return urdf_;
  }

  const boost::shared_ptr<const srdf::Model>& getSRDF() const
  {
    return srdf_;
  }
  
  void printModelInfo(std::ostream &out) const;

  const JointModel* getRootJoint() const;
  
  const std::string& getRootJointName() const
  {
    return getRootJoint()->getName();
  }
  
  bool hasJointModel(const std::string &name) const;

  const JointModel* getJointModel(const std::string &joint) const;

  const JointModel* getJointModel(int index) const;

  JointModel* getJointModel(const std::string &joint);
  
  const std::vector<const JointModel*>& getJointModels() const
  {
    return joint_model_vector_const_;
  }
  
  const std::vector<JointModel*>& getJointModels()
  {
    return joint_model_vector_;
  }

  const std::vector<std::string>& getJointModelNames() const
  {
    return joint_model_names_vector_;
  }
  
  const std::vector<const JointModel*>& getActiveJointModels() const
  {
    return active_joint_model_vector_const_;
  }

  const std::vector<JointModel*>& getActiveJointModels()
  {
    return active_joint_model_vector_;
  }

  const std::vector<const JointModel*>& getSingleDOFJointModels() const
  {
    return single_dof_joints_;
  }

  const std::vector<const JointModel*>& getMultiDOFJointModels() const
  {
    return multi_dof_joints_;
  }  

  const std::vector<const JointModel*>& getContinuousJointModels() const
  {
    return continuous_joint_model_vector_;
  }

  const std::vector<const JointModel*>& getMimicJointModels() const
  {
    return mimic_joints_;
  }
  
  const JointModel* getJointOfVariable(int variable_index) const
  {
    return joints_of_variable_[variable_index];
  }

  const JointModel* getJointOfVariable(const std::string &variable) const
  {
    return joints_of_variable_[getVariableIndex(variable)];
  }

  std::size_t getJointModelCount() const
  {
    return joint_model_vector_.size();
  }
  
  const LinkModel* getRootLink() const;

  const std::string& getRootLinkName() const
  {
    return getRootLink()->getName();
  }
  
  bool hasLinkModel(const std::string &name) const;

  const LinkModel* getLinkModel(const std::string &link) const;

  const LinkModel* getLinkModel(int index) const;

  LinkModel* getLinkModel(const std::string &link);

  const std::vector<const LinkModel*>& getLinkModels() const
  {
    return link_model_vector_const_;
  }

  const std::vector<LinkModel*>& getLinkModels()
  {
    return link_model_vector_;
  }

  const std::vector<std::string>& getLinkModelNames() const
  {
    return link_model_names_vector_;
  }

  const std::vector<const LinkModel*>& getLinkModelsWithCollisionGeometry() const
  {
    return link_models_with_collision_geometry_vector_;
  }

  const std::vector<std::string>& getLinkModelNamesWithCollisionGeometry() const
  {
    return link_model_names_with_collision_geometry_vector_;
  }

  std::size_t getLinkModelCount() const
  {
    return link_model_vector_.size();
  }
  
  std::size_t getLinkGeometryCount() const
  {
    return link_geometry_count_;
  }
  
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values) const;

  void getVariableDefaultPositions(double *values) const;

  void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values) const
  {
    values.resize(variable_count_);
    getVariableRandomPositions(rng, &values[0]);
  }
  
  void getVariableDefaultPositions(std::vector<double> &values) const
  {
    values.resize(variable_count_);
    getVariableDefaultPositions(&values[0]);
  }
  
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, std::map<std::string, double> &values) const;

  void getVariableDefaultPositions(std::map<std::string, double> &values) const;

  bool enforcePositionBounds(double *state) const
  {
    return enforcePositionBounds(state, active_joint_models_bounds_);
  }
  bool enforcePositionBounds(double *state, const JointBoundsVector &active_joint_bounds) const;
  bool satisfiesPositionBounds(const double *state, double margin = 0.0) const
  {
    return satisfiesPositionBounds(state, active_joint_models_bounds_, margin);
  }
  bool satisfiesPositionBounds(const double *state, const JointBoundsVector &active_joint_bounds, double margin = 0.0) const;
  double getMaximumExtent() const
  {
    return getMaximumExtent(active_joint_models_bounds_);
  }
  double getMaximumExtent(const JointBoundsVector &active_joint_bounds) const;

  double distance(const double *state1, const double *state2) const;  
  void interpolate(const double *from, const double *to, double t, double *state) const;

  bool hasJointModelGroup(const std::string& group) const;
  
  const JointModelGroup* getJointModelGroup(const std::string& name) const;
  
  JointModelGroup* getJointModelGroup(const std::string& name);
  
  const std::vector<const JointModelGroup*>& getJointModelGroups() const
  {
    return joint_model_groups_const_;
  }

  const std::vector<JointModelGroup*>& getJointModelGroups()
  {
    return joint_model_groups_;
  }
  
  const std::vector<std::string>& getJointModelGroupNames() const
  {
    return joint_model_group_names_;
  }

  bool hasEndEffector(const std::string& eef) const;

  const JointModelGroup* getEndEffector(const std::string& name) const;

  JointModelGroup* getEndEffector(const std::string& name);

  const std::vector<const JointModelGroup*>& getEndEffectors() const
  {
    return end_effectors_;
  }

  std::size_t getVariableCount() const
  {
    return variable_count_;
  }

  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }

  const VariableBounds& getVariableBounds(const std::string& variable) const
  {
    return getJointOfVariable(variable)->getVariableBounds(variable);
  }  

  const JointBoundsVector& getActiveJointModelsBounds() const
  {
    return active_joint_models_bounds_;
  }
  
  void getMissingVariableNames(const std::vector<std::string> &variables, std::vector<std::string> &missing_variables) const;
  
  int getVariableIndex(const std::string &variable) const;
  
  const JointModel* getCommonRoot(const JointModel *a, const JointModel *b) const
  {
    if (!a)
      return b;
    if (!b)
      return a;
    return joint_model_vector_[common_joint_roots_[a->getJointIndex() * joint_model_vector_.size() + b->getJointIndex()]];
  }
  
  void setKinematicsAllocators(const std::map<std::string, SolverAllocatorFn> &allocators);

protected:

  void computeFixedTransforms(const LinkModel *link, const Eigen::Affine3d &transform, LinkTransformMap &associated_transforms);

  const JointModel* computeCommonRoot(const JointModel *a, const JointModel *b) const;

  void updateMimicJoints(double *values) const;
  
  // GENERIC INFO
  
  std::string                                   model_name_;

  std::string                                   model_frame_;

  boost::shared_ptr<const srdf::Model>          srdf_;

  boost::shared_ptr<const urdf::ModelInterface> urdf_;


  // LINKS

  const LinkModel                              *root_link_;

  LinkModelMap                                  link_model_map_;

  std::vector<LinkModel*>                       link_model_vector_;

  std::vector<const LinkModel*>                 link_model_vector_const_;

  std::vector<std::string>                      link_model_names_vector_;

  std::vector<const LinkModel*>                 link_models_with_collision_geometry_vector_;

  std::vector<std::string>                      link_model_names_with_collision_geometry_vector_;

  std::size_t                                   link_geometry_count_;
  
  // JOINTS

  const JointModel                             *root_joint_;

  JointModelMap                                 joint_model_map_;

  std::vector<JointModel*>                      joint_model_vector_;

  std::vector<const JointModel*>                joint_model_vector_const_;

  std::vector<std::string>                      joint_model_names_vector_;

  std::vector<JointModel*>                      active_joint_model_vector_;

  std::vector<const JointModel*>                active_joint_model_vector_const_;

  std::vector<const JointModel*>                continuous_joint_model_vector_;

  std::vector<const JointModel*>                mimic_joints_;

  std::vector<const JointModel*>                single_dof_joints_;
 
  std::vector<const JointModel*>                multi_dof_joints_;

  std::vector<int>                              common_joint_roots_;

  // INDEXING

  std::vector<std::string>                      variable_names_;

  std::size_t                                   variable_count_;

  VariableIndexMap                              joint_variables_index_map_;

  std::vector<int>                              active_joint_model_start_index_;
  
  JointBoundsVector                             active_joint_models_bounds_;

  std::vector<const JointModel*>                joints_of_variable_;
  
  // GROUPS

  JointModelGroupMap                            joint_model_group_map_;

  JointModelGroupMap                            end_effectors_map_;

  std::vector<JointModelGroup*>                 joint_model_groups_;
  
  std::vector<const JointModelGroup*>           joint_model_groups_const_;
  
  std::vector<std::string>                      joint_model_group_names_;

  std::vector<const JointModelGroup*>           end_effectors_;
  
  void buildModel(const urdf::ModelInterface &urdf_model, const srdf::Model &srdf_model);

  void buildGroups(const srdf::Model &srdf_model);

  void buildGroupsInfo_Subgroups(const srdf::Model &srdf_model);

  void buildGroupsInfo_EndEffectors(const srdf::Model &srdf_model);

  void buildMimic(const urdf::ModelInterface &urdf_model);

  void buildGroupStates(const srdf::Model &srdf_model);

  void buildJointInfo();

  void computeDescendants();

  void computeCommonRoots();
  
  JointModel* buildRecursive(LinkModel *parent, const urdf::Link *link, const srdf::Model &srdf_model);

  bool addJointModelGroup(const srdf::Model::Group& group);

  JointModel* constructJointModel(const urdf::Joint *urdf_joint_model, const urdf::Link *child_link, const srdf::Model &srdf_model);

  LinkModel* constructLinkModel(const urdf::Link *urdf_link);

  shapes::ShapePtr constructShape(const urdf::Geometry *geom);
};

MOVEIT_CLASS_FORWARD(RobotModel);

}
}

namespace robot_model=moveit::core;
namespace robot_state=moveit::core;

#endif