pr2_arm_kinematics_plugin.h

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/* Author: Sachin Chitta */

#ifndef PR2_ARM_IK_NODE_H
#define PR2_ARM_IK_NODE_H

#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <kdl_parser/kdl_parser.hpp>

#include <angles/angles.h>
#include <tf_conversions/tf_kdl.h>

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

#include <moveit/kinematics_base/kinematics_base.h>

#include "pr2_arm_ik.h"

namespace pr2_arm_kinematics
{

static const int NO_IK_SOLUTION = -1;
static const int TIMED_OUT = -2;

//minimal stuff necessary
class PR2ArmIKSolver : public KDL::ChainIkSolverPos
{
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  PR2ArmIKSolver(const urdf::ModelInterface &robot_model,
                 const std::string &root_frame_name,
                 const std::string &tip_frame_name,
                 const double &search_discretization_angle,
                 const int &free_angle);

  ~PR2ArmIKSolver(){};

  PR2ArmIK pr2_arm_ik_;

  bool active_;

  int CartToJnt(const KDL::JntArray& q_init,
                const KDL::Frame& p_in,
                KDL::JntArray& q_out);

  int CartToJntSearch(const KDL::JntArray& q_in,
                      const KDL::Frame& p_in,
                      KDL::JntArray &q_out,
                      const double &timeout);

  void getSolverInfo(moveit_msgs::KinematicSolverInfo &response)
  {
    pr2_arm_ik_.getSolverInfo(response);
  }

private:

  bool getCount(int &count, const int &max_count, const int &min_count);

  double search_discretization_angle_;

  int free_angle_;

  std::string root_frame_name_;
};

Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame &p);
double computeEuclideanDistance(const std::vector<double> &array_1, const KDL::JntArray &array_2);
void getKDLChainInfo(const KDL::Chain &chain,
                     moveit_msgs::KinematicSolverInfo &chain_info);


class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
{
public:

  PR2ArmKinematicsPlugin();

  void setRobotModel(boost::shared_ptr<urdf::ModelInterface>& robot_model);

  bool isActive();

  virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                             const std::vector<double> &ik_seed_state,
                             std::vector<double> &solution,
                             moveit_msgs::MoveItErrorCodes &error_code,
                             const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                const std::vector<double> &ik_seed_state,
                                double timeout,
                                std::vector<double> &solution,
                                moveit_msgs::MoveItErrorCodes &error_code,
                                const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
  virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                const std::vector<double> &ik_seed_state,
                                double timeout,
                                const std::vector<double> &consistency_limits,
                                std::vector<double> &solution,
                                moveit_msgs::MoveItErrorCodes &error_code,
                                const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                const std::vector<double> &ik_seed_state,
                                double timeout,
                                std::vector<double> &solution,
                                const IKCallbackFn &solution_callback,
                                moveit_msgs::MoveItErrorCodes &error_code,
                                const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                const std::vector<double> &ik_seed_state,
                                double timeout,
                                const std::vector<double> &consistency_limits,
                                std::vector<double> &solution,
                                const IKCallbackFn &solution_callback,
                                moveit_msgs::MoveItErrorCodes &error_code,
                                const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  virtual bool getPositionFK(const std::vector<std::string> &link_names,
                             const std::vector<double> &joint_angles,
                             std::vector<geometry_msgs::Pose> &poses) const;

  virtual bool initialize(const std::string& robot_description,
                          const std::string& group_name,
                          const std::string& base_name,
                          const std::string& tip_name,
                          double search_discretization);

  const std::vector<std::string>& getJointNames() const;

  const std::vector<std::string>& getLinkNames() const;

protected:

  bool active_;
  int free_angle_;
  boost::shared_ptr<urdf::ModelInterface> robot_model_;
  boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_ik_solver_;
  std::string root_name_;
  int dimension_;
  boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
  KDL::Chain kdl_chain_;
  moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;

  mutable IKCallbackFn desiredPoseCallback_;
  mutable IKCallbackFn solutionCallback_;

  void desiredPoseCallback(const KDL::JntArray& jnt_array,
                           const KDL::Frame& ik_pose,
                           moveit_msgs::MoveItErrorCodes& error_code) const;

  void jointSolutionCallback(const KDL::JntArray& jnt_array,
                             const KDL::Frame& ik_pose,
                             moveit_msgs::MoveItErrorCodes& error_code) const;


};
}

#endif