kinematic_options.cpp

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/* Author: Acorn Pooley */

#include <moveit/robot_interaction/kinematic_options.h>
#include <boost/static_assert.hpp>
#include <ros/console.h>

robot_interaction::KinematicOptions::KinematicOptions()
: timeout_seconds_(0.0) // 0.0 = use default timeout
, max_attempts_(0)      // 0 = use default max attempts
{ }

// This is intended to be called as a ModifyStateFunction to modify the state
// maintained by a LockedRobotState in place.
bool robot_interaction::KinematicOptions::setStateFromIK(
      robot_state::RobotState& state,
      const std::string& group,
      const std::string& tip,
      const geometry_msgs::Pose& pose) const
{
  const robot_model::JointModelGroup *jmg = state.getJointModelGroup(group);
  if (!jmg)
  {
    ROS_ERROR("No getJointModelGroup('%s') found",group.c_str());
    return false;
  }
  bool result = state.setFromIK(jmg,
                            pose,
                            tip,
                            max_attempts_,
                            timeout_seconds_,
                            state_validity_callback_,
                            options_);
  state.update();
  return result;
}


void robot_interaction::KinematicOptions::setOptions(
      const KinematicOptions& source,
      OptionBitmask fields)
{
  // This function is implemented with the O_FIELDS and QO_FIELDS macros to
  // ensure that any fields added to robot_interaction::KinematicOptions or
  // kinematics::KinematicsQueryOptions are also added here and to the
  // KinematicOptions::OptionBitmask enum.

  // This needs to represent all the fields in
  // robot_interaction::KinematicOptions except options_
  #define O_FIELDS(F) \
    F(double, timeout_seconds_, TIMEOUT) \
    F(unsigned int, max_attempts_, MAX_ATTEMPTS) \
    F(robot_state::GroupStateValidityCallbackFn, state_validity_callback_, \
                                              STATE_VALIDITY_CALLBACK)

  // This needs to represent all the fields in
  // kinematics::KinematicsQueryOptions
  #define QO_FIELDS(F) \
    F(bool, lock_redundant_joints, LOCK_REDUNDANT_JOINTS) \
    F(bool, return_approximate_solution, RETURN_APPROXIMATE_SOLUTION)


  // This structure should be identical to kinematics::KinematicsQueryOptions
  // This is only used in the BOOST_STATIC_ASSERT below.
  struct DummyKinematicsQueryOptions
  {
    #define F(type,member,enumval) type member;
    QO_FIELDS(F)
    #undef F
  };
  // This structure should be identical to robot_interaction::KinematicOptions
  // This is only used in the BOOST_STATIC_ASSERT below.
  struct DummyKinematicOptions
  {
    #define F(type,member,enumval) type member;
    O_FIELDS(F)
    #undef F
    DummyKinematicsQueryOptions options_;
  };

  // If these asserts fails it means that fields were added to
  // kinematics::KinematicsQueryOptions or robot_interaction::KinematicOptions
  // and not added to the O_FIELDS and QO_FIELDS definitions above. To fix add
  // any new fields to the definitions above.
  BOOST_STATIC_ASSERT(sizeof(kinematics::KinematicsQueryOptions) ==
                      sizeof(DummyKinematicsQueryOptions));
  BOOST_STATIC_ASSERT(sizeof(KinematicOptions) ==
                      sizeof(DummyKinematicOptions));


  // copy fields from other to this if its bit is set in fields
  #define F(type,member,enumval) \
          if (fields & KinematicOptions::enumval) \
            member = source.member;
  O_FIELDS(F)
  #undef F

  // copy fields from other.options_ to this.options_ if its bit is set in
  // fields
  #define F(type,member,enumval) \
          if (fields & KinematicOptions::enumval) \
            options_.member = source.options_.member;
  QO_FIELDS(F)
  #undef F
}