joint_model.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ioan A. Sucan
 *  Copyright (c) 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_

#include <string>
#include <vector>
#include <map>
#include <iostream>
#include <moveit_msgs/JointLimits.h>
#include <random_numbers/random_numbers.h>
#include <Eigen/Geometry>

namespace moveit
{
namespace core
{
struct VariableBounds
{
  VariableBounds()
    : min_position_(0.0)
    , max_position_(0.0)
    , position_bounded_(false)
    , min_velocity_(0.0)
    , max_velocity_(0.0)
    , velocity_bounded_(false)
    , min_acceleration_(0.0)
    , max_acceleration_(0.0)
    , acceleration_bounded_(false)
  {
  }

  double min_position_;
  double max_position_;
  bool position_bounded_;

  double min_velocity_;
  double max_velocity_;
  bool velocity_bounded_;

  double min_acceleration_;
  double max_acceleration_;
  bool acceleration_bounded_;
};

class LinkModel;
class JointModel;

typedef std::map<std::string, int> VariableIndexMap;

typedef std::map<std::string, VariableBounds> VariableBoundsMap;

typedef std::map<std::string, JointModel*> JointModelMap;

typedef std::map<std::string, const JointModel*> JointModelMapConst;

class JointModel
{
public:
  enum JointType
  {
    UNKNOWN,
    REVOLUTE,
    PRISMATIC,
    PLANAR,
    FLOATING,
    FIXED
  };

  typedef std::vector<VariableBounds> Bounds;

  JointModel(const std::string& name);

  virtual ~JointModel();

  const std::string& getName() const
  {
    return name_;
  }

  JointType getType() const
  {
    return type_;
  }

  std::string getTypeName() const;

  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }

  const LinkModel* getChildLinkModel() const
  {
    return child_link_model_;
  }

  void setParentLinkModel(const LinkModel* link)
  {
    parent_link_model_ = link;
  }

  void setChildLinkModel(const LinkModel* link)
  {
    child_link_model_ = link;
  }

  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }

  const std::vector<std::string>& getLocalVariableNames() const
  {
    return local_variable_names_;
  }

  bool hasVariable(const std::string& variable) const
  {
    return variable_index_map_.find(variable) != variable_index_map_.end();
  }

  std::size_t getVariableCount() const
  {
    return variable_names_.size();
  }

  int getFirstVariableIndex() const
  {
    return first_variable_index_;
  }

  void setFirstVariableIndex(int index)
  {
    first_variable_index_ = index;
  }

  int getJointIndex() const
  {
    return joint_index_;
  }

  void setJointIndex(int index)
  {
    joint_index_ = index;
  }

  int getLocalVariableIndex(const std::string& variable) const;

  void getVariableDefaultPositions(double* values) const
  {
    getVariableDefaultPositions(values, variable_bounds_);
  }

  virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const = 0;

  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values) const
  {
    getVariableRandomPositions(rng, values, variable_bounds_);
  }

  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
                                          const Bounds& other_bounds) const = 0;

  void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values, const double* near,
                                        const double distance) const
  {
    getVariableRandomPositionsNearBy(rng, values, variable_bounds_, near, distance);
  }

  virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
                                                const Bounds& other_bounds, const double* near,
                                                const double distance) const = 0;

  bool satisfiesPositionBounds(const double* values, double margin = 0.0) const
  {
    return satisfiesPositionBounds(values, variable_bounds_, margin);
  }

  virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const = 0;

  bool enforcePositionBounds(double* values) const
  {
    return enforcePositionBounds(values, variable_bounds_);
  }

  virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const = 0;

  bool satisfiesVelocityBounds(const double* values, double margin = 0.0) const
  {
    return satisfiesVelocityBounds(values, variable_bounds_, margin);
  }

  virtual bool satisfiesVelocityBounds(const double* values, const Bounds& other_bounds, double margin) const;

  bool enforceVelocityBounds(double* values) const
  {
    return enforceVelocityBounds(values, variable_bounds_);
  }

  virtual bool enforceVelocityBounds(double* values, const Bounds& other_bounds) const;

  const VariableBounds& getVariableBounds(const std::string& variable) const;

  const Bounds& getVariableBounds() const
  {
    return variable_bounds_;
  }

  void setVariableBounds(const std::string& variable, const VariableBounds& bounds);

  void setVariableBounds(const std::vector<moveit_msgs::JointLimits>& jlim);

  const std::vector<moveit_msgs::JointLimits>& getVariableBoundsMsg() const
  {
    return variable_bounds_msg_;
  }

  virtual double distance(const double* value1, const double* value2) const = 0;

  double getDistanceFactor() const
  {
    return distance_factor_;
  }

  void setDistanceFactor(double factor)
  {
    distance_factor_ = factor;
  }

  virtual unsigned int getStateSpaceDimension() const = 0;

  const JointModel* getMimic() const
  {
    return mimic_;
  }

  double getMimicOffset() const
  {
    return mimic_offset_;
  }

  double getMimicFactor() const
  {
    return mimic_factor_;
  }

  void setMimic(const JointModel* mimic, double factor, double offset);

  const std::vector<const JointModel*>& getMimicRequests() const
  {
    return mimic_requests_;
  }

  void addMimicRequest(const JointModel* joint);
  void addDescendantJointModel(const JointModel* joint);
  void addDescendantLinkModel(const LinkModel* link);

  const std::vector<const LinkModel*>& getDescendantLinkModels() const
  {
    return descendant_link_models_;
  }

  const std::vector<const JointModel*>& getDescendantJointModels() const
  {
    return descendant_joint_models_;
  }

  const std::vector<const JointModel*>& getNonFixedDescendantJointModels() const
  {
    return non_fixed_descendant_joint_models_;
  }

  bool isPassive() const
  {
    return passive_;
  }

  void setPassive(bool flag)
  {
    passive_ = flag;
  }

  virtual void interpolate(const double* from, const double* to, const double t, double* state) const = 0;

  virtual double getMaximumExtent(const Bounds& other_bounds) const = 0;

  double getMaximumExtent() const
  {
    return getMaximumExtent(variable_bounds_);
  }

  virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const = 0;

  virtual void computeVariablePositions(const Eigen::Affine3d& transform, double* joint_values) const = 0;

protected:
  void computeVariableBoundsMsg();

  std::string name_;

  JointType type_;

  std::vector<std::string> local_variable_names_;

  std::vector<std::string> variable_names_;

  Bounds variable_bounds_;

  std::vector<moveit_msgs::JointLimits> variable_bounds_msg_;

  VariableIndexMap variable_index_map_;

  const LinkModel* parent_link_model_;

  const LinkModel* child_link_model_;

  const JointModel* mimic_;

  double mimic_factor_;

  double mimic_offset_;

  std::vector<const JointModel*> mimic_requests_;

  std::vector<const LinkModel*> descendant_link_models_;

  std::vector<const JointModel*> descendant_joint_models_;

  std::vector<const JointModel*> non_fixed_descendant_joint_models_;

  bool passive_;

  double distance_factor_;

  int first_variable_index_;

  int joint_index_;
};

std::ostream& operator<<(std::ostream& out, const VariableBounds& b);
}
}

#endif