pr2_arm_kinematics_utils.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, 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 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: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_UTILS_
#define MOVEIT_PR2_ARM_IK_UTILS_

#include <ros/ros.h>
#include <vector>
#include <angles/angles.h>
#include <Eigen/Core>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/KinematicSolverInfo.h>


using namespace angles;

namespace pr2_arm_kinematics
{
  Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame &p);

  double computeEuclideanDistance(const std::vector<double> &array_1,
                                  const KDL::JntArray &array_2);

  double distance(const urdf::Pose &transform);

  bool solveQuadratic(const double &a,
                      const double &b,
                      const double &c,
                      double *x1,
                      double *x2);

  Eigen::Matrix4f matrixInverse(const Eigen::Matrix4f &g);

  bool solveCosineEqn(const double &a,
                      const double &b,
                      const double &c,
                      double &soln1,
                      double &soln2);

  bool loadRobotModel(ros::NodeHandle node_handle,
                      urdf::Model &robot_model,
                      std::string &xml_string);

  bool getKDLChain(const std::string &xml_string,
                   const std::string &root_name,
                   const std::string &tip_name,
                   KDL::Chain &kdl_chain);

  bool getKDLTree(const std::string &xml_string,
                   const std::string &root_name,
                   const std::string &tip_name,
                   KDL::Tree &kdl_chain);

  bool checkJointNames(const std::vector<std::string> &joint_names,
                       const moveit_msgs::KinematicSolverInfo &chain_info);

  bool checkLinkNames(const std::vector<std::string> &link_names,
                      const moveit_msgs::KinematicSolverInfo &chain_info);

  bool checkLinkName(const std::string &link_name,
                     const moveit_msgs::KinematicSolverInfo &chain_info);

  bool checkRobotState(moveit_msgs::RobotState &robot_state,
                       const moveit_msgs::KinematicSolverInfo &chain_info);

  bool checkFKService(moveit_msgs::GetPositionFK::Request &request,
                      moveit_msgs::GetPositionFK::Response &response,
                      const moveit_msgs::KinematicSolverInfo &chain_info);

  bool checkIKService(moveit_msgs::GetPositionIK::Request &request,
                      moveit_msgs::GetPositionIK::Response &response,
                      const moveit_msgs::KinematicSolverInfo &chain_info);

  int getJointIndex(const std::string &name,
                    const moveit_msgs::KinematicSolverInfo &chain_info);

  bool convertPoseToRootFrame(const geometry_msgs::PoseStamped &pose_msg,
                              KDL::Frame &pose_kdl,
                              const std::string &root_frame,
                              tf::TransformListener& tf);

  bool convertPoseToRootFrame(const geometry_msgs::PoseStamped &pose_msg,
                              geometry_msgs::PoseStamped &pose_msg_out,
                              const std::string &root_frame,
                              tf::TransformListener& tf);

  int getKDLSegmentIndex(const KDL::Chain &chain,
                         const std::string &name);

  void getKDLChainInfo(const KDL::Chain &chain,
                       moveit_msgs::KinematicSolverInfo &chain_info);
}

#endif// PR2_ARM_IK_UTILS_H