pr2_arm_kinematics_plugin.h
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34 
35 /* Author: Sachin Chitta */
36 
37 #ifndef PR2_ARM_IK_NODE_H
38 #define PR2_ARM_IK_NODE_H
39 
40 #include <kdl/frames.hpp>
41 #include <kdl/jntarray.hpp>
42 #include <kdl/tree.hpp>
44 
45 #include <angles/angles.h>
46 #include <tf_conversions/tf_kdl.h>
47 
49 #include <moveit_msgs/GetPositionFK.h>
50 #include <moveit_msgs/GetPositionIK.h>
51 #include <moveit_msgs/KinematicSolverInfo.h>
52 #include <moveit_msgs/MoveItErrorCodes.h>
53 
54 #include <kdl/chainfksolverpos_recursive.hpp>
55 
56 #include <urdf/model.h>
57 
59 
60 #include <memory>
61 
62 #include "pr2_arm_ik.h"
63 
64 namespace pr2_arm_kinematics
65 {
66 static const int NO_IK_SOLUTION = -1;
67 static const int TIMED_OUT = -2;
68 
70 
71 // minimal stuff necessary
73 {
74 public:
76 
85  PR2ArmIKSolver(const urdf::ModelInterface& robot_model, const std::string& root_frame_name,
86  const std::string& tip_frame_name, const double& search_discretization_angle, const int& free_angle);
87 
89 
94 
98  bool active_;
99 
100  int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out);
101 
102  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout);
103 
104  void getSolverInfo(moveit_msgs::KinematicSolverInfo& response)
105  {
106  pr2_arm_ik_.getSolverInfo(response);
107  }
108 
109 private:
110  bool getCount(int& count, const int& max_count, const int& min_count);
111 
113 
115 
116  std::string root_frame_name_;
117 };
118 
119 Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame& p);
120 double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::JntArray& array_2);
121 void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::KinematicSolverInfo& chain_info);
122 
124 
126 {
127 public:
132 
133  void setRobotModel(urdf::ModelInterfaceSharedPtr& robot_model);
134 
139  bool isActive();
140 
148  virtual bool
149  getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state,
150  std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
152 
161  virtual bool
162  searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
163  std::vector<double>& solution, moveit_msgs::MoveItErrorCodes& error_code,
174  virtual bool
175  searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
176  const std::vector<double>& consistency_limits, std::vector<double>& solution,
177  moveit_msgs::MoveItErrorCodes& error_code,
179 
188  virtual bool searchPositionIK(
189  const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
190  std::vector<double>& solution, const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
192 
203  virtual bool
204  searchPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
205  const std::vector<double>& consistency_limits, std::vector<double>& solution,
206  const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code,
208 
216  virtual bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
217  std::vector<geometry_msgs::Pose>& poses) const;
218 
223  virtual bool initialize(const std::string& robot_description, const std::string& group_name,
224  const std::string& base_name, const std::string& tip_name, double search_discretization);
225 
229  const std::vector<std::string>& getJointNames() const;
230 
234  const std::vector<std::string>& getLinkNames() const;
235 
236 protected:
237  bool active_;
239  urdf::ModelInterfaceSharedPtr robot_model_;
240  pr2_arm_kinematics::PR2ArmIKSolverPtr pr2_arm_ik_solver_;
241  std::string root_name_;
243  std::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
245  moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
246 
249 
250  void desiredPoseCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
251  moveit_msgs::MoveItErrorCodes& error_code) const;
252 
253  void jointSolutionCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
254  moveit_msgs::MoveItErrorCodes& error_code) const;
255 };
256 }
257 
258 #endif
A set of options for the kinematics solver.
Core components of MoveIt!
MOVEIT_CLASS_FORWARD(PR2ArmIKSolver)
ROSCONSOLE_DECL void initialize()
pr2_arm_kinematics::PR2ArmIKSolverPtr pr2_arm_ik_solver_
bool getCount(int &count, const int &max_count, const int &min_count)
int CartToJntSearch(const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout)
static const int NO_IK_SOLUTION
std::shared_ptr< KDL::ChainFkSolverPos_recursive > jnt_to_pose_solver_
void getKDLChainInfo(const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
Provides an interface for kinematics solvers.
int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out)
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
PR2ArmIK pr2_arm_ik_
The PR2 inverse kinematics solver.
bool active_
Indicates whether the solver has been successfully initialized.
boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, moveit_msgs::MoveItErrorCodes &error_code)> IKCallbackFn
The signature for a callback that can compute IK.
moveit_msgs::KinematicSolverInfo ik_solver_info_
void getSolverInfo(moveit_msgs::KinematicSolverInfo &info)
get chain information about the arm. This populates the IK query response, filling in joint level inf...
Definition: pr2_arm_ik.cpp:193
PR2ArmIKSolver(const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle)
Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame &p)
void getSolverInfo(moveit_msgs::KinematicSolverInfo &response)
double computeEuclideanDistance(const std::vector< double > &array_1, const KDL::JntArray &array_2)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:51