kinematic_options.h

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/* Author: Acorn Pooley */

#ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
#define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_

#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/robot_state.h>

namespace robot_interaction
{
// Options for inverse kinematics calculations.
//
// This is intended to be lightweight and passable by value.  No virtual
// functions and no destructor.
struct KinematicOptions
{
  KinematicOptions();

  enum OptionBitmask
  {
    TIMEOUT = 0x00000001,                      // timeout_seconds_
    MAX_ATTEMPTS = 0x00000002,                 // max_attempts_
    STATE_VALIDITY_CALLBACK = 0x00000004,      // state_validity_callback_
    LOCK_REDUNDANT_JOINTS = 0x00000008,        // options_.lock_redundant_joints
    RETURN_APPROXIMATE_SOLUTION = 0x00000010,  // options_.return_approximate_solution
    DISCRETIZATION_METHOD = 0x00000020,
    ALL_QUERY_OPTIONS = LOCK_REDUNDANT_JOINTS | RETURN_APPROXIMATE_SOLUTION | DISCRETIZATION_METHOD,
    ALL = 0x7fffffff
  };

  bool setStateFromIK(robot_state::RobotState& state, const std::string& group, const std::string& tip,
                      const geometry_msgs::Pose& pose) const;

  void setOptions(const KinematicOptions& source, OptionBitmask fields = ALL);

  double timeout_seconds_;

  unsigned int max_attempts_;

  robot_state::GroupStateValidityCallbackFn state_validity_callback_;

  kinematics::KinematicsQueryOptions options_;
};
}

#endif