constrained_ik: constrained_ik_plugin.h Source File

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00001 
00026 #ifndef CONSTRAINED_IK_PLUGIN_H_
00027 #define CONSTRAINED_IK_PLUGIN_H_
00028 
00029 #include "constrained_ik/basic_kin.h"
00030 #include "constrained_ik/constrained_ik.h"
00031 
00032 #include <ros/ros.h>
00033 #include <moveit/robot_model_loader/robot_model_loader.h>
00034 #include <moveit/kinematics_base/kinematics_base.h>
00035 #include <moveit/planning_scene/planning_scene.h>
00036 #include <moveit_msgs/MoveItErrorCodes.h>
00037 
00038 namespace constrained_ik
00039 {
00041   class ConstrainedIKPlugin: public kinematics::KinematicsBase
00042   {
00043   public:
00044     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00045 
00046     ConstrainedIKPlugin();
00047 
00052     virtual bool isActive() const;
00053 
00055     bool getPositionIK(const geometry_msgs::Pose &ik_pose,
00056                        const std::vector<double> &ik_seed_state,
00057                        std::vector<double> &solution,
00058                        moveit_msgs::MoveItErrorCodes &error_code,
00059                        const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const override;
00060 
00062     bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00063                           const std::vector<double> &ik_seed_state,
00064                           double timeout,
00065                           std::vector<double> &solution,
00066                           moveit_msgs::MoveItErrorCodes &error_code,
00067                           const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const override;
00068 
00070     bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00071                           const std::vector<double> &ik_seed_state,
00072                           double timeout,
00073                           const std::vector<double> &consistency_limits,
00074                           std::vector<double> &solution,
00075                           moveit_msgs::MoveItErrorCodes &error_code,
00076                           const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const override;
00077 
00079     bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00080                           const std::vector<double> &ik_seed_state,
00081                           double timeout,
00082                           std::vector<double> &solution,
00083                           const IKCallbackFn &solution_callback,
00084                           moveit_msgs::MoveItErrorCodes &error_code,
00085                           const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const override;
00086 
00088     bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
00089                           const std::vector<double> &ik_seed_state,
00090                           double timeout,
00091                           const std::vector<double> &consistency_limits,
00092                           std::vector<double> &solution,
00093                           const IKCallbackFn &solution_callback,
00094                           moveit_msgs::MoveItErrorCodes &error_code,
00095                           const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const override;
00096 
00098     bool getPositionFK(const std::vector<std::string> &link_names,
00099                        const std::vector<double> &joint_angles,
00100                        std::vector<geometry_msgs::Pose> &poses) const override;
00101 
00103     bool initialize(const std::string& robot_description,
00104                     const std::string& group_name,
00105                     const std::string& base_name,
00106                     const std::string& tip_name,
00107                     double search_discretization) override;
00108 
00110     const std::vector<std::string>& getJointNames() const override;
00111 
00113     const std::vector<std::string>& getLinkNames() const override;
00114 
00115   protected:
00116 
00117     bool active_;                                     
00118     basic_kin::BasicKin kin_;                         
00119     int dimension_;                                   
00120     std::vector<std::string> link_names_;             
00121     std::vector<std::string> joint_names_;            
00122     planning_scene::PlanningScenePtr planning_scene_; 
00123     moveit::core::RobotStatePtr robot_state_;         
00124     robot_model::RobotModelPtr robot_model_ptr_;      
00125     boost::shared_ptr<Constrained_IK> solver_;        
00126   };
00127 
00128 }   //namespace constrained_ik
00129 
00130 
00131 #endif /* CONSTRAINED_IK_PLUGIN_H_ */