constrained_cartesian_goal.h

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#ifndef INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_UPDATE_FILTERS_CONSTRAINED_CARTESIAN_GOAL_H_
#define INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_UPDATE_FILTERS_CONSTRAINED_CARTESIAN_GOAL_H_

#include <stomp_moveit/update_filters/stomp_update_filter.h>
#include <stomp_moveit/utils/kinematics.h>

namespace stomp_moveit
{
namespace update_filters
{

class ConstrainedCartesianGoal : public StompUpdateFilter
{
public:
  ConstrainedCartesianGoal();
  virtual ~ConstrainedCartesianGoal();

  virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr,
                          const std::string& group_name,const XmlRpc::XmlRpcValue& config) override;

  virtual bool configure(const XmlRpc::XmlRpcValue& config) override;

  virtual bool setMotionPlanRequest(const planning_scene::PlanningSceneConstPtr& planning_scene,
                   const moveit_msgs::MotionPlanRequest &req,
                   const stomp_core::StompConfiguration &config,
                   moveit_msgs::MoveItErrorCodes& error_code) override;

  virtual bool filter(std::size_t start_timestep,
                      std::size_t num_timesteps,
                      int iteration_number,
                      const Eigen::MatrixXd& parameters,
                      Eigen::MatrixXd& updates,
                      bool& filtered) override;

  virtual std::string getGroupName() const
  {
    return group_name_;
  }

  virtual std::string getName() const
  {
    return name_ + "/" + group_name_;
  }

protected:

  std::string name_;
  std::string group_name_;

  // kinematics
  //utils::kinematics::KinematicConfig kc_;

  // goal config
  Eigen::Affine3d tool_goal_pose_;                    
  Eigen::VectorXd tool_goal_tolerance_;

  // robot
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotStatePtr state_;
  stomp_moveit::utils::kinematics::IKSolverPtr ik_solver_;
  std::string tool_link_;
};

} /* namespace update_filters */
} /* namespace stomp_moveit */

#endif /* INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_UPDATE_FILTERS_CONSTRAINED_CARTESIAN_GOAL_H_ */