pose_model_state_space_factory.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/ompl_interface/parameterization/work_space/pose_model_state_space_factory.h>
00038 #include <moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h>
00039 
00040 ompl_interface::PoseModelStateSpaceFactory::PoseModelStateSpaceFactory() : ModelBasedStateSpaceFactory()
00041 {
00042   type_ = PoseModelStateSpace::PARAMETERIZATION_TYPE;
00043 }
00044 
00045 int ompl_interface::PoseModelStateSpaceFactory::canRepresentProblem(const std::string& group,
00046                                                                     const moveit_msgs::MotionPlanRequest& req,
00047                                                                     const robot_model::RobotModelConstPtr& kmodel) const
00048 {
00049   const robot_model::JointModelGroup* jmg = kmodel->getJointModelGroup(group);
00050   if (jmg)
00051   {
00052     const std::pair<robot_model::JointModelGroup::KinematicsSolver, robot_model::JointModelGroup::KinematicsSolverMap>&
00053         slv = jmg->getGroupKinematics();
00054     bool ik = false;
00055     // check that we have a direct means to compute IK
00056     if (slv.first)
00057       ik = jmg->getVariableCount() == slv.first.bijection_.size();
00058     else if (!slv.second.empty())
00059     {
00060       // or an IK solver for each of the subgroups
00061       unsigned int vc = 0;
00062       unsigned int bc = 0;
00063       for (robot_model::JointModelGroup::KinematicsSolverMap::const_iterator jt = slv.second.begin();
00064            jt != slv.second.end(); ++jt)
00065       {
00066         vc += jt->first->getVariableCount();
00067         bc += jt->second.bijection_.size();
00068       }
00069       if (vc == jmg->getVariableCount() && vc == bc)
00070         ik = true;
00071     }
00072 
00073     if (ik)
00074     {
00075       // if we have path constraints, we prefer interpolating in pose space
00076       if ((!req.path_constraints.position_constraints.empty() ||
00077            !req.path_constraints.orientation_constraints.empty()) &&
00078           req.path_constraints.joint_constraints.empty() && req.path_constraints.visibility_constraints.empty())
00079         return 150;
00080       else
00081         return 50;
00082     }
00083   }
00084   return -1;
00085 }
00086 
00087 ompl_interface::ModelBasedStateSpacePtr
00088 ompl_interface::PoseModelStateSpaceFactory::allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const
00089 {
00090   return ModelBasedStateSpacePtr(new PoseModelStateSpace(space_spec));
00091 }


ompl
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:27