kinematics_service_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetPositionFK.h>

namespace move_group
{

class MoveGroupKinematicsService : public MoveGroupCapability
{
public:

  MoveGroupKinematicsService();

  virtual void initialize();

private:

  bool computeIKService(moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res);
  bool computeFKService(moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res);

  void computeIK(moveit_msgs::PositionIKRequest &req, moveit_msgs::RobotState &solution, moveit_msgs::MoveItErrorCodes &error_code,
                 robot_state::RobotState &rs, const robot_state::GroupStateValidityCallbackFn &constraint = robot_state::GroupStateValidityCallbackFn()) const;

  ros::ServiceServer fk_service_;
  ros::ServiceServer ik_service_;

};

}

#endif