joint_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_ROBOT_MODEL_JOINT_MODEL_
#define MOVEIT_ROBOT_MODEL_JOINT_MODEL_

#include <map>
#include <string>
#include <vector>
#include <utility>
#include <moveit_msgs/JointLimits.h>
#include <random_numbers/random_numbers.h>
#include <console_bridge/console.h>
#include <Eigen/Geometry>

namespace robot_model
{

class LinkModel;

class JointModel
{
  friend class RobotModel;
public:

  enum JointType
    {
      UNKNOWN, REVOLUTE, PRISMATIC, PLANAR, FLOATING, FIXED
    };

  typedef std::vector<std::pair<double, double> > Bounds;


  JointModel(const std::string& name);

  virtual ~JointModel();

  const std::string& getName() const
  {
    return name_;
  }

  JointType getType() const
  {
    return type_;
  }

  std::string getTypeName() const
  {
    switch(type_)
    {
    case UNKNOWN: return "Unkown";
    case REVOLUTE: return "Revolute";
    case PRISMATIC: return "Prismatic";
    case PLANAR: return "Planar";
    case FLOATING: return "Floating";
    case FIXED: return "Fixed";
    default: return "[Unkown]";
    }
  }

  int getTreeIndex() const
  {
    return tree_index_;
  }

  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }

  const LinkModel* getChildLinkModel() const
  {
    return child_link_model_;
  }

  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }

  bool hasVariable(const std::string &variable) const
  {
    return variable_index_.find(variable) != variable_index_.end();
  }

  unsigned int getVariableCount() const
  {
    return variable_names_.size();
  }

  const std::map<std::string, unsigned int>& getVariableIndexMap() const
  {
    return variable_index_;
  }

  const std::vector<std::string>& getLocalVariableNames() const
  {
    return local_variable_names_;
  }

  void getVariableDefaultValues(std::map<std::string, double> &values) const
  {
    getVariableDefaultValues(values, variable_bounds_);
  }

  void getVariableDefaultValues(std::map<std::string, double> &values, const Bounds &other_bounds) const;

  void getVariableDefaultValues(std::vector<double> &values) const
  {
    getVariableDefaultValues(values, variable_bounds_);
  }

  virtual void getVariableDefaultValues(std::vector<double> &values, const Bounds &other_bounds) const = 0;

  void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::map<std::string, double> &values) const
  {
    getVariableRandomValues(rng, values, variable_bounds_);
  }

  void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::map<std::string, double> &values, const Bounds &other_bounds) const;

  void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values) const
  {
    getVariableRandomValues(rng, values, variable_bounds_);
  }

  virtual void getVariableRandomValues(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds) const = 0;

  void getVariableRandomValuesNearBy(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values,
                                     const std::vector<double> &near, const double distance) const
  {
    getVariableRandomValuesNearBy(rng, values, variable_bounds_, near, distance);
  }

  virtual void getVariableRandomValuesNearBy(random_numbers::RandomNumberGenerator &rng, std::vector<double> &values, const Bounds &other_bounds,
                                             const std::vector<double> &near, const double distance) const = 0;

  bool satisfiesBounds(const std::vector<double> &values, double margin = 0.0) const
  {
    return satisfiesBounds(values, variable_bounds_, margin);
  }

  virtual bool satisfiesBounds(const std::vector<double> &values, const Bounds &other_bounds, double margin) const = 0;

  void enforceBounds(std::vector<double> &values) const
  {
    enforceBounds(values, variable_bounds_);
  }

  virtual void enforceBounds(std::vector<double> &values, const Bounds &other_bounds) const = 0;

  bool getVariableBounds(const std::string& variable, std::pair<double, double>& bounds) const;

  const Bounds& getVariableBounds() const
  {
    return variable_bounds_;
  }

  bool setVariableBounds(const std::string& variable, const std::pair<double, double>& bounds);

  const std::vector<moveit_msgs::JointLimits>& getVariableDefaultLimits() const
  {
    return default_limits_;
  }

  void setVariableLimits(const std::vector<moveit_msgs::JointLimits>& jlim);

  const std::vector<moveit_msgs::JointLimits>& getVariableLimits() const
  {
    return user_specified_limits_.empty() ? getVariableDefaultLimits() : user_specified_limits_;
  }

  virtual void computeDefaultVariableLimits();

  virtual double distance(const std::vector<double> &values1, const std::vector<double> &values2) const = 0;

  double getDistanceFactor() const
  {
    return distance_factor_;
  }

  void setDistanceFactor(double factor)
  {
    distance_factor_ = factor;
  }

  virtual unsigned int getStateSpaceDimension() const = 0;

  const JointModel* getMimic() const
  {
    return mimic_;
  }

  double getMimicOffset() const
  {
    return mimic_offset_;
  }

  double getMimicFactor() const
  {
    return mimic_factor_;
  }

  const std::vector<const JointModel*>& getMimicRequests() const
  {
    return mimic_requests_;
  }

  bool isPassive() const
  {
    return passive_;
  }

  double getMaximumVelocity() const
  {
    return max_velocity_;
  }

  virtual void interpolate(const std::vector<double> &from, const std::vector<double> &to, const double t, std::vector<double> &state) const = 0;

  virtual double getMaximumExtent(const Bounds &other_bounds) const = 0;

  double getMaximumExtent() const
  {
    return getMaximumExtent(variable_bounds_);
  }

  virtual void computeTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const = 0;

  virtual void computeJointStateValues(const Eigen::Affine3d& transform, std::vector<double> &joint_values) const = 0;

  virtual void updateTransform(const std::vector<double>& joint_values, Eigen::Affine3d &transf) const = 0;

protected:

  std::string                                       name_;

  JointType                                         type_;

  std::vector<std::string>                          local_variable_names_;

  std::vector<std::string>                          variable_names_;

  Bounds                                            variable_bounds_;

  double                                            max_velocity_;

  std::map<std::string, unsigned int>               variable_index_;

  LinkModel                                        *parent_link_model_;

  LinkModel                                        *child_link_model_;

  JointModel                                       *mimic_;

  double                                            mimic_factor_;

  double                                            mimic_offset_;

  std::vector<const JointModel*>                    mimic_requests_;

  bool                                              passive_;

  double                                            distance_factor_;

  std::vector<moveit_msgs::JointLimits>             default_limits_;

  std::vector<moveit_msgs::JointLimits>             user_specified_limits_;

  int                                               tree_index_;
};

}

#endif