pose_model_state_space.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_
#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_

#include <moveit/ompl_interface/parameterization/model_based_state_space.h>
#include <ompl/base/spaces/SE3StateSpace.h>

namespace ompl_interface
{
class PoseModelStateSpace : public ModelBasedStateSpace
{
public:
  static const std::string PARAMETERIZATION_TYPE;

  class StateType : public ModelBasedStateSpace::StateType
  {
  public:
    enum
    {
      JOINTS_COMPUTED = 256,
      POSE_COMPUTED = 512
    };

    StateType() : ModelBasedStateSpace::StateType(), poses(NULL)
    {
      flags |= JOINTS_COMPUTED;
    }

    bool jointsComputed() const
    {
      return flags & JOINTS_COMPUTED;
    }

    bool poseComputed() const
    {
      return flags & POSE_COMPUTED;
    }

    void setJointsComputed(bool value)
    {
      if (value)
        flags |= JOINTS_COMPUTED;
      else
        flags &= ~JOINTS_COMPUTED;
    }

    void setPoseComputed(bool value)
    {
      if (value)
        flags |= POSE_COMPUTED;
      else
        flags &= ~POSE_COMPUTED;
    }

    ompl::base::SE3StateSpace::StateType** poses;
  };

  PoseModelStateSpace(const ModelBasedStateSpaceSpecification& spec);
  virtual ~PoseModelStateSpace();

  virtual ompl::base::State* allocState() const;
  virtual void freeState(ompl::base::State* state) const;
  virtual void copyState(ompl::base::State* destination, const ompl::base::State* source) const;
  virtual void interpolate(const ompl::base::State* from, const ompl::base::State* to, const double t,
                           ompl::base::State* state) const;
  virtual double distance(const ompl::base::State* state1, const ompl::base::State* state2) const;
  virtual double getMaximumExtent() const;

  virtual ompl::base::StateSamplerPtr allocDefaultStateSampler() const;

  bool computeStateFK(ompl::base::State* state) const;
  bool computeStateIK(ompl::base::State* state) const;
  bool computeStateK(ompl::base::State* state) const;

  virtual void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ);
  virtual void copyToOMPLState(ompl::base::State* state, const robot_state::RobotState& rstate) const;
  virtual void sanityChecks() const;

private:
  struct PoseComponent
  {
    PoseComponent(const robot_model::JointModelGroup* subgroup,
                  const robot_model::JointModelGroup::KinematicsSolver& k);

    bool computeStateFK(StateType* full_state, unsigned int idx) const;
    bool computeStateIK(StateType* full_state, unsigned int idx) const;

    bool operator<(const PoseComponent& o) const
    {
      return subgroup_->getName() < o.subgroup_->getName();
    }

    const robot_model::JointModelGroup* subgroup_;
    kinematics::KinematicsBasePtr kinematics_solver_;
    std::vector<unsigned int> bijection_;
    ompl::base::StateSpacePtr state_space_;
    std::vector<std::string> fk_link_;
  };

  std::vector<PoseComponent> poses_;
  double jump_factor_;
};
}

#endif