arm_kinematics_constraint_aware: arm_kinematics_constraint_aware: arm_kinematics_constraint

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00035 * Author: Sachin Chitta
00036 *********************************************************************/
00037 
00038 #ifndef ARM_KINEMATICS_CONSTRAINT_AWARE_H
00039 #define ARM_KINEMATICS_CONSTRAINT_AWARE_H
00040 
00041 // System
00042 #include <boost/shared_ptr.hpp>
00043 
00044 // ROS msgs
00045 #include <kinematics_msgs/GetConstraintAwarePositionIK.h>
00046 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00047 #include <kinematics_msgs/GetPositionFK.h>
00048 
00049 #include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
00050 #include <arm_navigation_msgs/DisplayTrajectory.h>
00051 #include <arm_navigation_msgs/LinkPadding.h>
00052 
00053 // MISC
00054 #include <planning_environment/models/collision_models_interface.h>
00055 #include <arm_kinematics_constraint_aware/arm_kinematics_constraint_aware_utils.h>
00056 #include <kdl/jntarray.hpp>
00057 #include <angles/angles.h>
00058 #include <urdf/model.h>
00059 
00060 // plugin
00061 #include <pluginlib/class_loader.h>
00062 #include <kinematics_base/kinematics_base.h>
00063 
00064 
00065 namespace arm_kinematics_constraint_aware
00066 {
00067 class ArmKinematicsConstraintAware
00068 {
00069 public:
00070 
00081   ArmKinematicsConstraintAware();
00082 
00083   virtual ~ArmKinematicsConstraintAware()
00084   {
00085     if (collision_models_interface_)
00086       delete collision_models_interface_;
00087   };
00088 
00099   bool getConstraintAwarePositionIK(kinematics_msgs::GetConstraintAwarePositionIK::Request &request, 
00100                                     kinematics_msgs::GetConstraintAwarePositionIK::Response &response);
00101 
00102   bool getPositionIK(kinematics_msgs::GetPositionIK::Request &request, 
00103                      kinematics_msgs::GetPositionIK::Response &response);
00104 
00105   bool getIKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request, 
00106                        kinematics_msgs::GetKinematicSolverInfo::Response &response);
00107 
00108   bool getFKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request &request, 
00109                        kinematics_msgs::GetKinematicSolverInfo::Response &response);
00110 
00111   bool getPositionFK(kinematics_msgs::GetPositionFK::Request &request, 
00112                      kinematics_msgs::GetPositionFK::Response &response);
00113 
00114   bool isActive(){ return active_;}
00115 private:
00116 
00117   pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;
00118   kinematics::KinematicsBase* kinematics_solver_;
00119   bool active_;
00120 
00121   ros::NodeHandle node_handle_,root_handle_;
00122   ros::ServiceServer ik_collision_service_, ik_service_, fk_service_, ik_solver_info_service_, fk_solver_info_service_;
00123   planning_environment::CollisionModelsInterface *collision_models_interface_;
00124   std::string group_,root_name_;
00125   bool use_collision_map_;
00126   ros::Publisher vis_marker_publisher_;
00127   ros::Publisher vis_marker_array_publisher_;
00128   std::vector<std::string> end_effector_collision_links_;
00129   std::vector<std::string> arm_links_;
00130   void collisionCheck(const geometry_msgs::Pose &ik_pose,
00131                       const std::vector<double> &ik_solution,
00132                       int &error_code);
00133   void initialPoseCheck(const geometry_msgs::Pose &ik_pose,
00134                         const std::vector<double> &ik_solution,
00135                         int &error_code);
00136   void printStringVec(const std::string &prefix, const std::vector<std::string> &string_vector);
00137   ros::Publisher display_trajectory_publisher_;
00138   bool visualize_solution_;
00139   kinematics_msgs::PositionIKRequest ik_request_;
00140   arm_navigation_msgs::Constraints constraints_;
00141 
00142   void advertiseBaseKinematicsServices();
00143   void advertiseConstraintIKService();
00144 
00145   bool isReady(arm_navigation_msgs::ArmNavigationErrorCodes &error_code);
00146   void sendEndEffectorPose(const planning_models::KinematicState* state, bool valid);
00147 
00148   kinematics_msgs::KinematicSolverInfo chain_info_;
00149 
00150 };
00151 }
00152 #endif
arm_kinematics_constraint_aware.h
