pr2_arm_ik.h
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00034 
00035 /* Author: Sachin Chitta */
00036 
00037 #ifndef MOVEIT_PR2_ARM_IK_H
00038 #define MOVEIT_PR2_ARM_IK_H
00039 
00040 #include <urdf/model.h>
00041 #include <Eigen/Core>
00042 #include <Eigen/LU>// provides LU decomposition
00043 #include <kdl/chainiksolver.hpp>
00044 #include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
00045 #include <pr2_arm_kinematics/pr2_arm_kinematics_constants.h>
00046 
00047 
00048 namespace pr2_arm_kinematics
00049 {
00050 class PR2ArmIK
00051 {
00052 public:
00053 
00059   PR2ArmIK();
00060   ~PR2ArmIK(){};
00061 
00069   bool init(const urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name);
00070 
00076   void computeIKShoulderPan(const Eigen::Matrix4f &g_in, const double &shoulder_pan_initial_guess,std::vector<std::vector<double> > &solution) const;
00077 
00083   void computeIKShoulderRoll(const Eigen::Matrix4f &g_in, const double &shoulder_roll_initial_guess,std::vector<std::vector<double> > &solution) const;
00084 
00085 
00086   //  std::vector<std::vector<double> > solution_ik_;/// a vector of ik solutions
00087 
00092   void getSolverInfo(moveit_msgs::KinematicSolverInfo &info);
00093 
00097   moveit_msgs::KinematicSolverInfo solver_info_;
00098 
00099   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00100 
00101   private:
00102 
00103   void addJointToChainInfo(boost::shared_ptr<const urdf::Joint> joint,moveit_msgs::KinematicSolverInfo &info);
00104 
00105   bool checkJointLimits(const std::vector<double> &joint_values) const;
00106 
00107   bool checkJointLimits(const double &joint_value, const int &joint_num) const;
00108 
00109   Eigen::Matrix4f grhs_, gf_, home_inv_, home_;
00110 
00111   std::vector<double> angle_multipliers_;
00112 
00113   std::vector<double> solution_;
00114 
00115   double shoulder_upperarm_offset_, upperarm_elbow_offset_, elbow_wrist_offset_, shoulder_wrist_offset_, shoulder_elbow_offset_, torso_shoulder_offset_x_, torso_shoulder_offset_y_, torso_shoulder_offset_z_;
00116 
00117   std::vector<double> min_angles_;
00118 
00119   std::vector<double> max_angles_;
00120 
00121   std::vector<bool> continuous_joint_;
00122 
00123 };
00124 }
00125 #endif// PR2_ARM_IK_H


pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Thu Jun 6 2019 20:11:52