pose_model_state_space.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_
#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_WORK_SPACE_POSE_MODEL_STATE_SPACE_

#include <moveit/ompl_interface/parameterization/model_based_state_space.h>
#include <ompl/base/spaces/SE3StateSpace.h>

namespace ompl_interface
{

class PoseModelStateSpace : public ModelBasedStateSpace
{
public:

  static const std::string PARAMETERIZATION_TYPE;

  class StateType : public ModelBasedStateSpace::StateType
  {
  public:
    enum
      {
        JOINTS_COMPUTED = 256,
        POSE_COMPUTED = 512
      };
    
    StateType() 
      : ModelBasedStateSpace::StateType()
      , poses(NULL)
    {
      flags |= JOINTS_COMPUTED;
    }
    
    bool jointsComputed() const
    {
      return flags & JOINTS_COMPUTED;
    }
    
    bool poseComputed() const
    {
      return flags & POSE_COMPUTED;
    }
    
    void setJointsComputed(bool value)
    {
      if (value)
        flags |= JOINTS_COMPUTED;
      else
        flags &= ~JOINTS_COMPUTED;
    }
    
    void setPoseComputed(bool value)
    {
      if (value)
        flags |= POSE_COMPUTED;
      else
        flags &= ~POSE_COMPUTED;
    }
    
    ompl::base::SE3StateSpace::StateType **poses;
  };
  
  PoseModelStateSpace(const ModelBasedStateSpaceSpecification &spec);
  virtual ~PoseModelStateSpace();
  
  virtual ompl::base::State* allocState() const;
  virtual void freeState(ompl::base::State *state) const;
  virtual void copyState(ompl::base::State *destination, const ompl::base::State *source) const;
  virtual void interpolate(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const;
  virtual double distance(const ompl::base::State *state1, const ompl::base::State *state2) const;
  virtual double getMaximumExtent() const;

  virtual ompl::base::StateSamplerPtr allocDefaultStateSampler() const;
  
  bool computeStateFK(ompl::base::State *state) const;
  bool computeStateIK(ompl::base::State *state) const;
  bool computeStateK(ompl::base::State *state) const;

  virtual void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ);
  virtual void copyToOMPLState(ompl::base::State *state, const robot_state::RobotState &rstate) const;
  virtual void sanityChecks() const;

private:

  struct PoseComponent
  {
    PoseComponent(const robot_model::JointModelGroup *subgroup,
                  const robot_model::JointModelGroup::KinematicsSolver &k);

    bool computeStateFK(StateType *full_state, unsigned int idx) const;
    bool computeStateIK(StateType *full_state, unsigned int idx) const;
    
    bool operator<(const PoseComponent &o) const
    {
      return subgroup_->getName() < o.subgroup_->getName();
    }
    
    const robot_model::JointModelGroup *subgroup_;
    boost::shared_ptr<kinematics::KinematicsBase> kinematics_solver_;
    std::vector<unsigned int> bijection_;
    ompl::base::StateSpacePtr state_space_;
    std::vector<std::string> fk_link_;
  };
  
  std::vector<PoseComponent> poses_;
  double jump_factor_;
};

}

#endif