lma_kinematics_plugin.h
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00034 
00035 /* Author: Francisco Suarez-Ruiz */
00036 
00037 #ifndef MOVEIT_ROS_PLANNING_LMA_KINEMATICS_PLUGIN_H
00038 #define MOVEIT_ROS_PLANNING_LMA_KINEMATICS_PLUGIN_H
00039 
00040 // ROS
00041 #include <ros/ros.h>
00042 #include <random_numbers/random_numbers.h>
00043 
00044 // System
00045 #include <boost/shared_ptr.hpp>
00046 
00047 // ROS msgs
00048 #include <geometry_msgs/PoseStamped.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 // KDL
00055 #include <kdl/jntarray.hpp>
00056 #include <kdl/chainiksolvervel_pinv.hpp>
00057 #include <kdl/chainiksolverpos_nr_jl.hpp>
00058 #include <kdl/chainfksolverpos_recursive.hpp>
00059 #include <moveit/lma_kinematics_plugin/chainiksolver_pos_lma_jl_mimic.h>
00060 #include <moveit/lma_kinematics_plugin/chainiksolver_vel_pinv_mimic.h>
00061 #include <moveit/lma_kinematics_plugin/joint_mimic.h>
00062 
00063 // MoveIt!
00064 #include <moveit/kinematics_base/kinematics_base.h>
00065 #include <moveit/robot_model/robot_model.h>
00066 #include <moveit/robot_state/robot_state.h>
00067 
00068 namespace lma_kinematics_plugin
00069 {
00074 class LMAKinematicsPlugin : public kinematics::KinematicsBase
00075 {
00076 public:
00080   LMAKinematicsPlugin();
00081 
00082   virtual bool
00083   getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
00084                 std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
00085                 const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00086 
00087   virtual bool
00088   searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00089                    std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
00090                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00091 
00092   virtual bool
00093   searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00094                    const std::vector<double>& consistency_limits, std::vector<double>& solution,
00095                    moveit_msgs::MoveItErrorCodes& error_code,
00096                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00097 
00098   virtual bool searchPositionIK(
00099       const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00100       std::vector<double>& solution, const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
00101       const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00102 
00103   virtual bool
00104   searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00105                    const std::vector<double>& consistency_limits, std::vector<double>& solution,
00106                    const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
00107                    const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00108 
00109   virtual bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
00110                              std::vector<geometry_msgs::Pose>& poses) const;
00111 
00112   virtual bool initialize(const std::string& robot_description, const std::string& group_name,
00113                           const std::string& base_name, const std::string& tip_name, double search_discretization);
00114 
00118   const std::vector<std::string>& getJointNames() const;
00119 
00123   const std::vector<std::string>& getLinkNames() const;
00124 
00125 protected:
00142   bool searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
00143                         std::vector<double>& solution, const IKCallbackFn& solution_callback,
00144                         moveit_msgs::MoveItErrorCodes& error_code, const std::vector<double>& consistency_limits,
00145                         const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const;
00146 
00147   virtual bool setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices);
00148 
00149 private:
00150   bool timedOut(const ros::WallTime& start_time, double duration) const;
00151 
00160   bool checkConsistency(const KDL::JntArray& seed_state, const std::vector<double>& consistency_limit,
00161                         const KDL::JntArray& solution) const;
00162 
00163   int getJointIndex(const std::string& name) const;
00164 
00165   int getKDLSegmentIndex(const std::string& name) const;
00166 
00167   void getRandomConfiguration(KDL::JntArray& jnt_array, bool lock_redundancy) const;
00168 
00176   void getRandomConfiguration(const KDL::JntArray& seed_state, const std::vector<double>& consistency_limits,
00177                               KDL::JntArray& jnt_array, bool lock_redundancy) const;
00178 
00179   bool isRedundantJoint(unsigned int index) const;
00180 
00181   bool active_; 
00183   moveit_msgs::KinematicSolverInfo ik_chain_info_; 
00185   moveit_msgs::KinematicSolverInfo fk_chain_info_; 
00187   KDL::Chain kdl_chain_;
00188 
00189   unsigned int dimension_; 
00191   KDL::JntArray joint_min_, joint_max_; 
00193   mutable random_numbers::RandomNumberGenerator random_number_generator_;
00194 
00195   robot_model::RobotModelPtr robot_model_;
00196 
00197   robot_state::RobotStatePtr state_, state_2_;
00198 
00199   int num_possible_redundant_joints_;
00200   std::vector<unsigned int> redundant_joints_map_index_;
00201 
00202   // Storage required for when the set of redundant joints is reset
00203   bool position_ik_;  // whether this solver is only being used for position ik
00204   robot_model::JointModelGroup* joint_model_group_;
00205   double max_solver_iterations_;
00206   double epsilon_;
00207   std::vector<JointMimic> mimic_joints_;
00208 };
00209 }
00210 
00211 #endif


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:16