pr2_arm_kinematics.h

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/* Author: Sachin Chitta */

#ifndef PR2_ARM_IK_NODE_H
#define PR2_ARM_IK_NODE_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

#include <angles/angles.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <tf_conversions/tf_kdl.h>

#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

namespace pr2_arm_kinematics
{
  class PR2ArmKinematics
  {
    public:

    PR2ArmKinematics(bool create_transform_listener = true);

    virtual ~PR2ArmKinematics();

    bool isActive();

    virtual bool getPositionIK(kinematics_msgs::GetPositionIK::Request &request,
                               kinematics_msgs::GetPositionIK::Response &response);

    bool getIKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request,
                         kinematics_msgs::GetKinematicSolverInfo::Response &response);

    bool getFKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request,
                         kinematics_msgs::GetKinematicSolverInfo::Response &response);

    bool getPositionFK(kinematics_msgs::GetPositionFK::Request &request,
                       kinematics_msgs::GetPositionFK::Response &response);

    protected:

    // Helper function that assumes that everything is in the correct frame
    bool getPositionIKHelper(kinematics_msgs::GetPositionIK::Request &request,
                 kinematics_msgs::GetPositionIK::Response &response);

    virtual bool transformPose(const std::string& des_frame,
                   const geometry_msgs::PoseStamped& pose_in,
                   geometry_msgs::PoseStamped& pose_out);

    bool active_;
    int free_angle_;
    urdf::Model robot_model_;
    double search_discretization_;
    ros::NodeHandle node_handle_, root_handle_;
    boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_ik_solver_;
    ros::ServiceServer ik_service_,fk_service_,ik_solver_info_service_,fk_solver_info_service_;
    tf::TransformListener* tf_;
    std::string root_name_;
    int dimension_;
    boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
    KDL::Chain kdl_chain_;
    kinematics_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
  };
}

#endif