ompl_ros_ik_state_transformer.cpp

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#include <ompl_ros_interface/state_transformers/ompl_ros_ik_state_transformer.h>

namespace ompl_ros_interface
{
OmplRosIKStateTransformer::OmplRosIKStateTransformer(const ompl::base::StateSpacePtr &state_space,
                                                     const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group) : OmplRosStateTransformer(state_space, physical_joint_model_group), kinematics_loader_("kinematics_base","kinematics::KinematicsBase")

{
  ros::NodeHandle node_handle("~");
  std::string kinematics_solver_name;
  group_name_ = state_space_->getName();
  physical_group_name_ = physical_joint_model_group_->getName();
  std::string base_name, tip_name;

  if(!node_handle.hasParam(group_name_+"/kinematics_solver"))
  {
    ROS_ERROR("Kinematics solver not defined for group %s in namespace %s",group_name_.c_str(),node_handle.getNamespace().c_str());
    throw new OMPLROSException();
  }
  node_handle.getParam(group_name_+"/kinematics_solver",kinematics_solver_name);

  if(!node_handle.hasParam(group_name_+"/root_name"))
  {
    ROS_ERROR_STREAM("Kinematics solver has no root name " << base_name << " in param ns " << node_handle.getNamespace());
    throw new OMPLROSException();
  }
  node_handle.getParam(group_name_+"/root_name",base_name);

  if(!node_handle.hasParam(group_name_+"/tip_name"))
  {
    ROS_ERROR_STREAM("Kinematics solver has no root name " << tip_name << " in param ns " << node_handle.getNamespace());
    throw new OMPLROSException();
  }
  node_handle.getParam(group_name_+"/tip_name",tip_name);


  ROS_DEBUG("Trying to initialize solver %s",kinematics_solver_name.c_str());
  if(!kinematics_loader_.isClassAvailable(kinematics_solver_name))
  {
    ROS_ERROR("pluginlib does not have the class %s",kinematics_solver_name.c_str());
    throw new OMPLROSException();
  }
  ROS_DEBUG("Found solver %s",kinematics_solver_name.c_str());
  
  try
  {
    kinematics_solver_ = kinematics_loader_.createClassInstance(kinematics_solver_name);
  }
  catch(pluginlib::PluginlibException& ex)    //handle the class failing to load
  {
    ROS_ERROR("The plugin failed to load. Error: %s", ex.what());
    throw new OMPLROSException();
  }
  ROS_DEBUG("Loaded solver %s",kinematics_solver_name.c_str());
  if(!kinematics_solver_->initialize(group_name_,
                                     base_name,
                                     tip_name,
                                     .01))
  {
    ROS_ERROR("Could not initialize kinematics solver for group %s",group_name_.c_str());
    throw new OMPLROSException();
  }
  ROS_DEBUG("Initialized ompl ros state transformer %s",kinematics_solver_name.c_str());
}  
}