ompl_ros_rpy_ik_state_transformer.h

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#ifndef OMPL_ROS_RPY_IK_STATE_TRANSFORMER_H_
#define OMPL_ROS_RPY_IK_STATE_TRANSFORMER_H_

// OMPL ROS Interface
#include <ompl_ros_interface/state_transformers/ompl_ros_ik_state_transformer.h>
#include <ompl_ros_interface/helpers/ompl_ros_conversions.h>

// Kinematics
#include <pluginlib/class_loader.h>
#include <kinematics_base/kinematics_base.h>

namespace ompl_ros_interface
{
class OmplRosRPYIKStateTransformer : public OmplRosIKStateTransformer
{
public:
  /* @brief Default constructor
     @param state_space - The state space that the planner is operating on
     @param physical_joint_model_group - The "physical" joint model group that the planner is operating on
  */
  OmplRosRPYIKStateTransformer(const ompl::base::StateSpacePtr &state_space,
                               const planning_models::KinematicModel::JointModelGroup* physical_joint_model_group) 
  : OmplRosIKStateTransformer(state_space,physical_joint_model_group){};

  ~OmplRosRPYIKStateTransformer(){}
    
  /* @brief Custom initialization can be performed here
   */ 
  virtual bool initialize();

  /* @brief Configure the transformer when a request is received. This is typically a one time configuration 
     for each planning request.
   */ 
  virtual bool configureOnRequest(const arm_navigation_msgs::GetMotionPlan::Request &request,
                                  arm_navigation_msgs::GetMotionPlan::Response &response);

  /* @brief Compute the inverse transform (from planning state to physical state)
   */ 
  virtual bool inverseTransform(const ompl::base::State &ompl_state,
                                arm_navigation_msgs::RobotState &robot_state);

  /* @brief Compute the forward transform (from physical state to planning state)
   */ 
  virtual bool forwardTransform(const arm_navigation_msgs::RobotState &robot_state,
                                ompl::base::State &ompl_state);

  /* 
     @brief Get a default physical state
  */ 
  virtual arm_navigation_msgs::RobotState getDefaultState();
  
private:

  int real_vector_index_;
  arm_navigation_msgs::RobotState seed_state_, solution_state_;
  int x_index_, y_index_, z_index_, pitch_index_, roll_index_, yaw_index_;  
  boost::shared_ptr<ompl::base::ScopedState<ompl::base::CompoundStateSpace> > scoped_state_;

  ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_;
  ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_;

  void omplStateToPose(const ompl::base::State &ompl_state,
                       geometry_msgs::Pose &pose);

  double generateRandomNumber(const double &min, const double &max);
  void generateRandomState(arm_navigation_msgs::RobotState &robot_state);


};
}

#endif //OMPL_ROS_RPY_IK_STATE_TRANSFORMER_H_