pr2_arm_kinematics_plugin.h
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00034 
00035 /* Author: Sachin Chitta */
00036 
00037 #ifndef PR2_ARM_IK_NODE_H
00038 #define PR2_ARM_IK_NODE_H
00039 
00040 #include <kdl/frames.hpp>
00041 #include <kdl/jntarray.hpp>
00042 #include <kdl/tree.hpp>
00043 #include <kdl_parser/kdl_parser.hpp>
00044 
00045 #include <angles/angles.h>
00046 #include <tf_conversions/tf_kdl.h>
00047 
00048 #include <moveit/macros/class_forward.h>
00049 #include <moveit_msgs/GetPositionFK.h>
00050 #include <moveit_msgs/GetPositionIK.h>
00051 #include <moveit_msgs/GetKinematicSolverInfo.h>
00052 #include <moveit_msgs/MoveItErrorCodes.h>
00053 
00054 #include <kdl/chainfksolverpos_recursive.hpp>
00055 
00056 #include <boost/shared_ptr.hpp>
00057 
00058 #include <moveit/kinematics_base/kinematics_base.h>
00059 
00060 #include "pr2_arm_ik.h"
00061 
00062 namespace pr2_arm_kinematics
00063 {
00064 static const int NO_IK_SOLUTION = -1;
00065 static const int TIMED_OUT = -2;
00066 
00067 MOVEIT_CLASS_FORWARD(PR2ArmIKSolver);
00068 
00069 // minimal stuff necessary
00070 class PR2ArmIKSolver : public KDL::ChainIkSolverPos
00071 {
00072 public:
00073   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00074 
00083   PR2ArmIKSolver(const urdf::ModelInterface& robot_model, const std::string& root_frame_name,
00084                  const std::string& tip_frame_name, const double& search_discretization_angle, const int& free_angle);
00085 
00086   ~PR2ArmIKSolver(){};
00087 
00091   PR2ArmIK pr2_arm_ik_;
00092 
00096   bool active_;
00097 
00098   int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out);
00099 
00100   int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout);
00101 
00102   void getSolverInfo(moveit_msgs::KinematicSolverInfo& response)
00103   {
00104     pr2_arm_ik_.getSolverInfo(response);
00105   }
00106 
00107 private:
00108   bool getCount(int& count, const int& max_count, const int& min_count);
00109 
00110   double search_discretization_angle_;
00111 
00112   int free_angle_;
00113 
00114   std::string root_frame_name_;
00115 };
00116 
00117 Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame& p);
00118 double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::JntArray& array_2);
00119 void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::KinematicSolverInfo& chain_info);
00120 
00121 MOVEIT_CLASS_FORWARD(PR2ArmKinematicsPlugin);
00122 
00123 class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
00124 {
00125 public:
00129   PR2ArmKinematicsPlugin();
00130 
00131   void setRobotModel(boost::shared_ptr<urdf::ModelInterface>& robot_model);
00132 
00137   bool isActive();
00138 
00146   virtual bool
00147   getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
00148                 std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
00149                 const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00150 
00159   virtual bool
00160   searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00161                    std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
00162                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00172   virtual bool
00173   searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00174                    const std::vector<double>& consistency_limits, std::vector<double>& solution,
00175                    moveit_msgs::MoveItErrorCodes& error_code,
00176                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00177 
00186   virtual bool searchPositionIK(
00187       const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00188       std::vector<double>& solution, const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
00189       const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00190 
00201   virtual bool
00202   searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00203                    const std::vector<double>& consistency_limits, std::vector<double>& solution,
00204                    const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
00205                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00206 
00214   virtual bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
00215                              std::vector<geometry_msgs::Pose>& poses) const;
00216 
00221   virtual bool initialize(const std::string& robot_description, const std::string& group_name,
00222                           const std::string& base_name, const std::string& tip_name, double search_discretization);
00223 
00227   const std::vector<std::string>& getJointNames() const;
00228 
00232   const std::vector<std::string>& getLinkNames() const;
00233 
00234 protected:
00235   bool active_;
00236   int free_angle_;
00237   boost::shared_ptr<urdf::ModelInterface> robot_model_;
00238   pr2_arm_kinematics::PR2ArmIKSolverPtr pr2_arm_ik_solver_;
00239   std::string root_name_;
00240   int dimension_;
00241   boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
00242   KDL::Chain kdl_chain_;
00243   moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
00244 
00245   mutable IKCallbackFn desiredPoseCallback_;
00246   mutable IKCallbackFn solutionCallback_;
00247 
00248   void desiredPoseCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
00249                            moveit_msgs::MoveItErrorCodes& error_code) const;
00250 
00251   void jointSolutionCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
00252                              moveit_msgs::MoveItErrorCodes& error_code) const;
00253 };
00254 }
00255 
00256 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36