place_tester_fast.h

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// Author(s): Matei Ciocarlie, E. Gil Jones

#ifndef _PLACE_TESTER_FAST_
#define _PLACE_TESTER_FAST_

#include "object_manipulator/place_execution/descend_retreat_place.h"
#include <arm_kinematics_constraint_aware/arm_kinematics_solver_constraint_aware.h>
//#include <pr2_arm_kinematics_constraint_aware/pr2_arm_ik_solver_constraint_aware.h>

#include <pluginlib/class_loader.h>

namespace object_manipulator {

class PlaceTesterFast : public PlaceTester
{
protected:

  geometry_msgs::Vector3 doNegate(const geometry_msgs::Vector3& vec) {
    geometry_msgs::Vector3 v;
    v.x = - vec.x;
    v.y = - vec.y;
    v.z = - vec.z;
    return v;
  }

  virtual void testPlace(const object_manipulation_msgs::PlaceGoal &placre_goal,
                         const geometry_msgs::PoseStamped &place_locations,
                         PlaceExecutionInfo &execution_info);
  
  std::vector<arm_navigation_msgs::LinkPadding> 
  linkPaddingForPlace(const object_manipulation_msgs::PlaceGoal &place_goal);
  
  void getGroupLinks(const std::string& group_name,
                     std::vector<std::string>& group_links);

  bool getInterpolatedIK(const std::string& arm_name,
                         const tf::Transform& first_pose,
                         const tf::Vector3& direction,
                         const double& distance,
                         const std::vector<double>& ik_solution,
                         const bool& reverse, 
                         const bool& premultiply,
                         trajectory_msgs::JointTrajectory& traj);
    
  std::map<std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware*> ik_solver_map_;
  //std::map<std::string, pr2_arm_kinematics::PR2ArmIKSolverConstraintAware*> ik_solver_map_;
  
  double consistent_angle_;
  unsigned int num_points_;
  unsigned int redundancy_;
  
  ros::Publisher vis_marker_array_publisher_;
  ros::Publisher vis_marker_publisher_;

  planning_environment::CollisionModels* getCollisionModels();
  planning_models::KinematicState* getPlanningSceneState();

  planning_environment::CollisionModels* cm_;
  planning_models::KinematicState* state_;

 public:
  PlaceTesterFast(planning_environment::CollisionModels* cm = NULL,
                  const std::string& plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin");

  ~PlaceTesterFast();

  void setPlanningSceneState(planning_models::KinematicState* state) {
    state_ = state;
  }

  void testPlaces(const object_manipulation_msgs::PlaceGoal &place_goal,
                  const std::vector<geometry_msgs::PoseStamped> &place_locations,
                  std::vector<PlaceExecutionInfo> &execution_info,
                  bool return_on_first_hit);

  pluginlib::ClassLoader<kinematics::KinematicsBase> kinematics_loader_;

};

} //namespace grasp_execution

#endif