joint_model.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_
#define MOVEIT_CORE_ROBOT_MODEL_JOINT_MODEL_

#include <string>
#include <vector>
#include <map>
#include <iostream>
#include <moveit_msgs/JointLimits.h>
#include <random_numbers/random_numbers.h>
#include <Eigen/Geometry>

namespace moveit
{
namespace core
{

struct VariableBounds
{
  VariableBounds() :
    min_position_(0.0),
    max_position_(0.0),
    position_bounded_(false),
    min_velocity_(0.0),
    max_velocity_(0.0),
    velocity_bounded_(false),
    min_acceleration_(0.0),
    max_acceleration_(0.0),
    acceleration_bounded_(false)   
  {
  }
  
  double min_position_;
  double max_position_;
  bool position_bounded_;
  
  double min_velocity_;
  double max_velocity_;
  bool velocity_bounded_;
  
  double min_acceleration_;
  double max_acceleration_;
  bool acceleration_bounded_;
};

class LinkModel;
class JointModel;

typedef std::map<std::string, int> VariableIndexMap;

typedef std::map<std::string, VariableBounds> VariableBoundsMap;

typedef std::map<std::string, JointModel*> JointModelMap;

typedef std::map<std::string, const JointModel*> JointModelMapConst;


class JointModel
{
public:

  enum JointType
    {
      UNKNOWN, REVOLUTE, PRISMATIC, PLANAR, FLOATING, FIXED
    };

  typedef std::vector<VariableBounds> Bounds;

  JointModel(const std::string& name);

  virtual ~JointModel();

  const std::string& getName() const
  {
    return name_;
  }

  JointType getType() const
  {
    return type_;
  }

  std::string getTypeName() const;

  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }

  const LinkModel* getChildLinkModel() const
  {
    return child_link_model_;
  }

  void setParentLinkModel(const LinkModel *link)
  {
    parent_link_model_ = link;
  }

  void setChildLinkModel(const LinkModel *link)
  {
    child_link_model_ = link;
  }
    
  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }

  const std::vector<std::string>& getLocalVariableNames() const
  {
    return local_variable_names_;
  }

  bool hasVariable(const std::string &variable) const
  {
    return variable_index_map_.find(variable) != variable_index_map_.end();
  }

  std::size_t getVariableCount() const
  {
    return variable_names_.size();
  }

  int getFirstVariableIndex() const
  {
    return first_variable_index_;
  }
  
  void setFirstVariableIndex(int index)
  {
    first_variable_index_ = index;
  }
  
  int getJointIndex() const
  {
    return joint_index_;
  }
  
  void setJointIndex(int index)
  {
    joint_index_ = index;
  }

  int getLocalVariableIndex(const std::string &variable) const;
  
  void getVariableDefaultPositions(double *values) const
  {
    getVariableDefaultPositions(values, variable_bounds_);
  }

  virtual void getVariableDefaultPositions(double *values, const Bounds &other_bounds) const = 0;

  void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values) const
  {
    getVariableRandomPositions(rng, values, variable_bounds_);
  }

  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds) const = 0;
  
  void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values,
                                        const double *near, const double distance) const
  {
    getVariableRandomPositionsNearBy(rng, values, variable_bounds_, near, distance);
  }

  virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator &rng, double *values, const Bounds &other_bounds,
                                                const double *near, const double distance) const = 0;
  
  bool satisfiesPositionBounds(const double *values, double margin = 0.0) const
  {
    return satisfiesPositionBounds(values, variable_bounds_, margin);
  }

  virtual bool satisfiesPositionBounds(const double *values, const Bounds &other_bounds, double margin) const = 0;

  bool enforcePositionBounds(double *values) const
  {
    return enforcePositionBounds(values, variable_bounds_);
  }

  virtual bool enforcePositionBounds(double *values, const Bounds &other_bounds) const = 0;

  bool satisfiesVelocityBounds(const double *values, double margin = 0.0) const
  {
    return satisfiesVelocityBounds(values, variable_bounds_, margin);
  }

  virtual bool satisfiesVelocityBounds(const double *values, const Bounds &other_bounds, double margin) const;

  bool enforceVelocityBounds(double *values) const
  {
    return enforceVelocityBounds(values, variable_bounds_);
  }
  
  virtual bool enforceVelocityBounds(double *values, const Bounds &other_bounds) const;
  
  const VariableBounds& getVariableBounds(const std::string& variable) const;

  const Bounds& getVariableBounds() const
  {
    return variable_bounds_;
  }

  void setVariableBounds(const std::string& variable, const VariableBounds& bounds);

  void setVariableBounds(const std::vector<moveit_msgs::JointLimits>& jlim);

  const std::vector<moveit_msgs::JointLimits>& getVariableBoundsMsg() const
  {
    return variable_bounds_msg_;
  }
  
  virtual double distance(const double *value1, const double *value2) const = 0;

  double getDistanceFactor() const
  {
    return distance_factor_;
  }

  void setDistanceFactor(double factor)
  {
    distance_factor_ = factor;
  }

  virtual unsigned int getStateSpaceDimension() const = 0;

  const JointModel* getMimic() const
  {
    return mimic_;
  }

  double getMimicOffset() const
  {
    return mimic_offset_;
  }

  double getMimicFactor() const
  {
    return mimic_factor_;
  }

  void setMimic(const JointModel *mimic, double factor, double offset);
  
  const std::vector<const JointModel*>& getMimicRequests() const
  {
    return mimic_requests_;
  }

  void addMimicRequest(const JointModel *joint);
  void addDescendantJointModel(const JointModel *joint);
  void addDescendantLinkModel(const LinkModel *link);

  const std::vector<const LinkModel*>& getDescendantLinkModels() const
  {
    return descendant_link_models_;
  }

  const std::vector<const JointModel*>& getDescendantJointModels() const
  {
    return descendant_joint_models_;
  }

  const std::vector<const JointModel*>& getNonFixedDescendantJointModels() const
  {
    return non_fixed_descendant_joint_models_;
  }
  
  bool isPassive() const
  {
    return passive_;
  }
  
  void setPassive(bool flag)
  {
    passive_ = flag;
  }
  
  virtual void interpolate(const double *from, const double *to, const double t, double *state) const = 0;

  virtual double getMaximumExtent(const Bounds &other_bounds) const = 0;

  double getMaximumExtent() const
  {
    return getMaximumExtent(variable_bounds_);
  }

  virtual void computeTransform(const double *joint_values, Eigen::Affine3d &transf) const = 0;

  virtual void computeVariablePositions(const Eigen::Affine3d& transform, double *joint_values) const = 0;
  
protected:

  void computeVariableBoundsMsg();
  
  std::string                                          name_;

  JointType                                            type_;

  std::vector<std::string>                             local_variable_names_;

  std::vector<std::string>                             variable_names_;

  Bounds                                               variable_bounds_;

  std::vector<moveit_msgs::JointLimits>                variable_bounds_msg_;
  
  VariableIndexMap                                     variable_index_map_;

  const LinkModel                                     *parent_link_model_;

  const LinkModel                                     *child_link_model_;

  const JointModel                                    *mimic_;

  double                                               mimic_factor_;

  double                                               mimic_offset_;

  std::vector<const JointModel*>                       mimic_requests_;
  
  std::vector<const LinkModel*>                        descendant_link_models_;

  std::vector<const JointModel*>                       descendant_joint_models_;

  std::vector<const JointModel*>                       non_fixed_descendant_joint_models_;
  
  bool                                                 passive_;

  double                                               distance_factor_;

  int                                                  first_variable_index_;

  int                                                  joint_index_;
  
};

std::ostream& operator<<(std::ostream &out, const VariableBounds &b);

}
}

#endif