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reem_arm_kinematics_plugin.h

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2012, PAL Robotics, S.L.
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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#ifndef REEM_KINEMATICS_PLUGIN_H_
#define REEM_KINEMATICS_PLUGIN_H_

// ROS
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_datatypes.h>
#include <tf_conversions/tf_kdl.h>

// System
#include <boost/shared_ptr.hpp>
#include <algorithm>
#include <numeric>
#include <cstring>

// ROS msgs
#include <geometry_msgs/PoseStamped.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>

// Plugin
#include <kinematics_base/kinematics_base.h>

// KDL
#include <kdl/jntarray.hpp>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>

// Local
#include <reem_kinematics_constraint_aware/ik_solver.h>

// MISC
#include <angles/angles.h>

namespace reem_kinematics_constraint_aware
{
class ReemKinematicsPlugin : public kinematics::KinematicsBase
  {
    public:

    ReemKinematicsPlugin();

    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 getPositionIK(const geometry_msgs::Pose &ik_pose,
                       const std::vector<double> &ik_seed_state,
                       const std::vector<double> &posture,
                       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 loadModel(const std::string xml);
    bool readJoints(urdf::Model &robot_model);
    int getJointIndex(const std::string &name);
    int getKDLSegmentIndex(const std::string &name);
    double genRandomNumber(const double &min, const double &max);
    KDL::JntArray getRandomConfiguration();

    int max_search_iterations_;

    bool active_;
    kinematics_msgs::KinematicSolverInfo chain_info_;

    boost::shared_ptr<KDL::ChainFkSolverPos_recursive> fk_solver_;
    boost::shared_ptr<IkSolver> ik_solver_;

    unsigned int dimension_;
    KDL::Chain kdl_chain_;
    std::string root_name_,tip_name_;
    KDL::JntArray joint_min_, joint_max_;
    std::vector<double> default_posture_;
  };
}

#endif

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reem_kinematics_constraint_aware
Author(s): Adolfo Rodriguez Tsouroukdissian, Hilario Tome.
autogenerated on Fri Mar 1 17:27:06 2013