kinematics_plugin_loader.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_KINEMATICS_PLUGIN_LOADER_
#define MOVEIT_KINEMATICS_PLUGIN_LOADER_

#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/kinematics_base/kinematics_base.h>

namespace kinematics_plugin_loader
{

class KinematicsPluginLoader
{
public:

  KinematicsPluginLoader(const std::string &robot_description = "robot_description",
                         double default_search_resolution = 0.0) :
    robot_description_(robot_description),
    default_search_resolution_(default_search_resolution)
  {
  }

  KinematicsPluginLoader(const std::string &solver_plugin, double solve_timeout, unsigned int ik_attempts,
                         const std::string &robot_description = "robot_description",
                         double default_search_resolution = 0.0) :
    robot_description_(robot_description),
    default_search_resolution_(default_search_resolution),
    default_solver_plugin_(solver_plugin),
    default_solver_timeout_(solve_timeout),
    default_ik_attempts_(ik_attempts)
  {
  }

  robot_model::SolverAllocatorFn getLoaderFunction();

  robot_model::SolverAllocatorFn getLoaderFunction(const boost::shared_ptr<srdf::Model> &srdf_model);

  const std::vector<std::string>& getKnownGroups() const
  {
    return groups_;
  }

  const std::map<std::string, double>& getIKTimeout() const
  {
    return ik_timeout_;
  }

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

  void status() const;

private:

  std::string robot_description_;
  double default_search_resolution_;

  class KinematicsLoaderImpl;
  boost::shared_ptr<KinematicsLoaderImpl> loader_;

  std::vector<std::string> groups_;
  std::map<std::string, double> ik_timeout_;
  std::map<std::string, unsigned int> ik_attempts_;

  // default configuration
  std::string default_solver_plugin_;
  double default_solver_timeout_;
  unsigned int default_ik_attempts_;
};

typedef boost::shared_ptr<KinematicsPluginLoader> KinematicsPluginLoaderPtr;
typedef boost::shared_ptr<const KinematicsPluginLoader> KinematicsPluginLoaderConstPtr;

}

#endif