robot_model.h

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/* Author: Ioan Sucan, E. Gil Jones */

#ifndef MOVEIT_ROBOT_MODEL_ROBOT_MODEL_
#define MOVEIT_ROBOT_MODEL_ROBOT_MODEL_

#include <urdf_model/model.h>
#include <srdfdom/model.h>
#include <geometric_shapes/shapes.h>
#include <geometric_shapes/shape_messages.h>
#include <random_numbers/random_numbers.h>
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_model/fixed_joint_model.h>
#include <moveit/robot_model/floating_joint_model.h>
#include <moveit/robot_model/planar_joint_model.h>
#include <moveit/robot_model/revolute_joint_model.h>
#include <moveit/robot_model/prismatic_joint_model.h>
#include <boost/shared_ptr.hpp>
#include <iostream>
#include <set>

#include <Eigen/Geometry>

#include <console_bridge/console.h>

namespace robot_model
{

class RobotModel
{
public:

  RobotModel(const boost::shared_ptr<const urdf::ModelInterface> &urdf_model,
             const boost::shared_ptr<const srdf::Model> &srdf_model);

  virtual ~RobotModel();

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

  const boost::shared_ptr<const urdf::ModelInterface>& getURDF() const
  {
    return urdf_;
  }

  const boost::shared_ptr<const srdf::Model>& getSRDF() const
  {
    return srdf_;
  }

  bool hasLinkModel(const std::string &name) const;

  const LinkModel* getLinkModel(const std::string &link) const;

  bool hasJointModel(const std::string &name) const;

  const JointModel* getJointModel(const std::string &joint) const;

  void getChildLinkModels(const LinkModel* parent, std::vector<const LinkModel*> &links) const;

  void getChildLinkModels(const JointModel* parent, std::vector<const LinkModel*> &links) const;

  void getChildJointModels(const LinkModel* parent, std::vector<const JointModel*> &links) const;

  void getChildJointModels(const JointModel* parent, std::vector<const JointModel*> &links) const;

  std::vector<std::string> getChildLinkModelNames(const LinkModel* parent) const;

  std::vector<std::string> getChildJointModelNames(const LinkModel* parent) const;

  std::vector<std::string> getChildJointModelNames(const JointModel* parent) const;

  std::vector<std::string> getChildLinkModelNames(const JointModel* parent) const;

  const std::vector<const JointModel*>& getJointModels() const
  {
    return joint_model_vector_const_;
  }

  const std::vector<JointModel*>& getJointModels()
  {
    return joint_model_vector_;
  }

  const std::vector<std::string>& getJointModelNames() const
  {
    return joint_model_names_vector_;
  }

  const std::vector<const JointModel*>& getContinuousJointModels() const
  {
    return continuous_joint_model_vector_const_;
  }

  const std::vector<const LinkModel*>& getLinkModels() const
  {
    return link_model_vector_const_;
  }

  const std::vector<LinkModel*>& getLinkModels()
  {
    return link_model_vector_;
  }

  const std::vector<std::string>& getLinkModelNames() const
  {
    return link_model_names_vector_;
  }

  const std::vector<LinkModel*>& getLinkModelsWithCollisionGeometry() const
  {
    return link_models_with_collision_geometry_vector_;
  }

  const std::vector<std::string>& getLinkModelNamesWithCollisionGeometry() const
  {
    return link_model_names_with_collision_geometry_vector_;
  }

  const JointModel* getRoot() const
  {
    return root_joint_;
  }

  const std::string& getRootJointName() const;

  const LinkModel* getRootLink() const
  {
    return root_link_;
  }

  const std::string& getRootLinkName() const;

  const std::string& getModelFrame() const
  {
    return model_frame_;
  }

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

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

  void getVariableDefaultValues(std::vector<double> &values) const;

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

  void printModelInfo(std::ostream &out = std::cout) const;

  bool hasJointModelGroup(const std::string& group) const;

  const JointModelGroup* getJointModelGroup(const std::string& name) const;

  JointModelGroup* getJointModelGroup(const std::string& name);

  const std::map<std::string, JointModelGroup*>& getJointModelGroupMap() const
  {
    return joint_model_group_map_;
  }

  const std::vector<std::string>& getJointModelGroupNames() const
  {
    return joint_model_group_names_;
  }

  const std::map<std::string, srdf::Model::Group>& getJointModelGroupConfigMap() const
  {
    return joint_model_group_config_map_;
  }

  bool hasEndEffector(const std::string& eef) const;

  const JointModelGroup* getEndEffector(const std::string& name) const;

  JointModelGroup* getEndEffector(const std::string& name);

  const std::map<std::string, JointModelGroup*>& getEndEffectorsMap() const
  {
    return end_effectors_;
  }

  unsigned int getVariableCount() const
  {
    return variable_count_;
  }

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

  const std::map<std::string, std::pair<double, double> >& getAllVariableBounds() const
  {
    return variable_bounds_;
  }

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

  void setKinematicsAllocators(const std::map<std::string, SolverAllocatorFn> &allocators);

protected:

  typedef std::map<LinkModel*, Eigen::Affine3d, std::less<LinkModel*>,
                   Eigen::aligned_allocator<std::pair<const LinkModel*, Eigen::Affine3d> > > LinkModelToAffine3dMap;

  void computeFixedTransforms(LinkModel *link, const Eigen::Affine3d &transform, LinkModelToAffine3dMap &associated_transforms);

  std::string                                   model_name_;

  std::string                                   model_frame_;

  std::map<std::string, LinkModel*>             link_model_map_;

  std::vector<LinkModel*>                       link_model_vector_;

  std::vector<const LinkModel*>                 link_model_vector_const_;

  std::vector<std::string>                      link_model_names_vector_;

  std::vector<LinkModel*>                       link_models_with_collision_geometry_vector_;

  std::vector<std::string>                      link_model_names_with_collision_geometry_vector_;

  std::map<std::string, JointModel*>            joint_model_map_;

  std::vector<JointModel*>                      joint_model_vector_;

  std::vector<const JointModel*>                joint_model_vector_const_;

  std::vector<std::string>                      joint_model_names_vector_;

  std::vector<const JointModel*>                continuous_joint_model_vector_const_;

  std::vector<std::string>                      active_variable_names_;

  unsigned int                                  variable_count_;

  std::map<std::string,
           std::pair<double, double> >          variable_bounds_;

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

  JointModel                                   *root_joint_;

  LinkModel                                    *root_link_;

  std::map<std::string, JointModelGroup*>       joint_model_group_map_;

  std::vector<std::string>                      joint_model_group_names_;

  std::map<std::string, srdf::Model::Group>     joint_model_group_config_map_;

  std::map<std::string, JointModelGroup*>       end_effectors_;

  boost::shared_ptr<const srdf::Model>          srdf_;

  boost::shared_ptr<const urdf::ModelInterface> urdf_;

  void buildModel(const urdf::ModelInterface &urdf_model, const srdf::Model &srdf_model);

  void buildGroups(const srdf::Model &srdf_model);

  void buildGroupsInfo_Subgroups(const srdf::Model &srdf_model);

  void buildGroupsInfo_EndEffectors(const srdf::Model &srdf_model);

  void buildMimic(const urdf::ModelInterface &urdf_model);

  void buildGroupStates(const srdf::Model &srdf_model);

  void buildJointInfo();

  JointModel* buildRecursive(LinkModel *parent, const urdf::Link *link, const srdf::Model &srdf_model);

  bool addJointModelGroup(const srdf::Model::Group& group);

  JointModel* constructJointModel(const urdf::Joint *urdf_joint_model, const urdf::Link *child_link, const srdf::Model &srdf_model);

  LinkModel* constructLinkModel(const urdf::Link *urdf_link);

  shapes::ShapePtr constructShape(const urdf::Geometry *geom);
};

typedef boost::shared_ptr<RobotModel> RobotModelPtr;
typedef boost::shared_ptr<const RobotModel> RobotModelConstPtr;

}

#endif