pr2_arm_kinematics_plugin.h

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* Author: Sachin Chitta
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#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 <motion_planning_msgs/ArmNavigationErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

#include <kinematics_base/kinematics_base.h>

namespace pr2_arm_kinematics
{
class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
  {
    public:

    PR2ArmKinematicsPlugin();

    bool isActive();

    bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                       const std::vector<double> &ik_seed_state,
                       std::vector<double> &solution,
                       int &error_code);      
    
    bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                          const std::vector<double> &ik_seed_state,
                          const double &timeout,
                          std::vector<double> &solution,
                          int &error_code);      
    bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                          const std::vector<double> &ik_seed_state,
                          const double &timeout,
                          std::vector<double> &solution,
                          const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &desired_pose_callback,
                          const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &solution_callback,
                          int &error_code);      
    
    bool getPositionFK(const std::vector<std::string> &link_names,
                       const std::vector<double> &joint_angles, 
                       std::vector<geometry_msgs::Pose> &poses);
    
    bool initialize(std::string name);
    
     std::string getBaseFrame();
    
    std::string getToolFrame();
    
    std::vector<std::string> getJointNames();
    
    std::vector<std::string> getLinkNames();
    
    protected:

    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_;

    boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> desiredPoseCallback_;
    boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> solutionCallback_;    
    void desiredPoseCallback(const KDL::JntArray& jnt_array, 
                             const KDL::Frame& ik_pose,
                             motion_planning_msgs::ArmNavigationErrorCodes& error_code);

    void jointSolutionCallback(const KDL::JntArray& jnt_array, 
                               const KDL::Frame& ik_pose,
                               motion_planning_msgs::ArmNavigationErrorCodes& error_code);


  };
}

#endif

---

pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Fri Jan 11 09:52:46 2013