model_based_joint_state_space.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_JOINT_STATE_SPACE_
#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_JOINT_STATE_SPACE_

#include <ompl/base/StateSpace.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>

namespace ompl_interface
{

class ModelBasedJointStateSpace : public ompl::base::StateSpace
{
public:

  class StateType : public ompl::base::State
  {
  public:
    robot_state::JointState *joint_state;
  };

  ModelBasedJointStateSpace(const robot_model::JointModel *joint_model);
  ModelBasedJointStateSpace(const robot_model::JointModel *joint_model,
                            const robot_model::JointModel::Bounds &joint_bounds);

  virtual ~ModelBasedJointStateSpace();

  virtual ompl::base::State* allocState() const;
  virtual void freeState(ompl::base::State *state) const;

  virtual unsigned int getDimension() const;
  virtual double getMaximumExtent() const;
  virtual void enforceBounds(ompl::base::State *state) const;
  virtual bool satisfiesBounds(const ompl::base::State *state) const;

  virtual void copyState(ompl::base::State *destination, const ompl::base::State *source) const;
  virtual double distance(const ompl::base::State *state1, const ompl::base::State *state2) const;
  virtual bool equalStates(const ompl::base::State *state1, const ompl::base::State *state2) const;
  virtual void interpolate(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const;

  virtual unsigned int getSerializationLength() const;
  virtual void serialize(void *serialization, const ompl::base::State *state) const;
  virtual void deserialize(ompl::base::State *state, const void *serialization) const;
  virtual double* getValueAddressAtIndex(ompl::base::State *state, const unsigned int index) const;
  virtual void printState(const ompl::base::State *state, std::ostream &out) const;
  virtual void printSettings(std::ostream &out) const;

  virtual ompl::base::StateSamplerPtr allocDefaultStateSampler() const;

  const robot_model::JointModel* getJointModel() const
  {
    return joint_model_;
  }

  const std::string& getJointName() const
  {
    return getJointModel()->getName();
  }

  void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ);

  const robot_model::JointModel::Bounds& getJointBounds() const
  {
    return joint_bounds_;
  }

protected:

  void propagateJointStateUpdate(ompl::base::State *state) const;

  const robot_model::JointModel *joint_model_;
  robot_model::JointModel::Bounds joint_bounds_;

};

}

#endif