descartes_trajectory: cartesian

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00001 /*
00002  * Software License Agreement (Apache License)
00003  *
00004  * Copyright (c) 2014, Southwest Research Institute
00005  *
00006  * Licensed under the Apache License, Version 2.0 (the "License");
00007  * you may not use this file except in compliance with the License.
00008  * You may obtain a copy of the License at
00009  *
00010  * http://www.apache.org/licenses/LICENSE-2.0
00011  *
00012  * Unless required by applicable law or agreed to in writing, software
00013  * distributed under the License is distributed on an "AS IS" BASIS,
00014  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00015  * See the License for the specific language governing permissions and
00016  * limitations under the License.
00017  */
00018 
00019 #ifndef CARTESIAN_ROBOT_H_
00020 #define CARTESIAN_ROBOT_H_
00021 
00022 #include "descartes_core/robot_model.h"
00023 
00024 namespace descartes_trajectory_test
00025 {
00030 class CartesianRobot : public descartes_core::RobotModel
00031 {
00032 public:
00033   CartesianRobot();
00034 
00035   CartesianRobot(double pos_range, double orient_range,
00036                  const std::vector<double> &joint_velocities = std::vector<double>(6, 1.0));
00037 
00038   virtual bool getIK(const Eigen::Affine3d &pose, const std::vector<double> &seed_state,
00039                      std::vector<double> &joint_pose) const;
00040 
00041   virtual bool getAllIK(const Eigen::Affine3d &pose, std::vector<std::vector<double> > &joint_poses) const;
00042 
00043   virtual bool getFK(const std::vector<double> &joint_pose, Eigen::Affine3d &pose) const;
00044 
00045   virtual bool isValid(const std::vector<double> &joint_pose) const;
00046 
00047   virtual bool isValid(const Eigen::Affine3d &pose) const;
00048 
00049   virtual int getDOF() const;
00050 
00051   virtual bool initialize(const std::string &robot_description, const std::string &group_name,
00052                           const std::string &world_frame, const std::string &tcp_frame);
00053 
00054   virtual bool isValidMove(const std::vector<double> &from_joint_pose, const std::vector<double> &to_joint_pose,
00055                            double dt) const;
00056 
00057   bool setJointVelocities(const std::vector<double> &new_joint_vels)
00058   {
00059     if (new_joint_vels.size() != joint_velocities_.size())
00060       return false;
00061     joint_velocities_ = new_joint_vels;
00062     return true;
00063   }
00064 
00065   double pos_range_;
00066   double orient_range_;
00067   std::vector<double> joint_velocities_;
00068 };
00069 }
00070 
00071 #endif  // CARTESIAN_ROBOT_H