pr2_arm_kinematics.h
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00034 
00035 /* Author: Sachin Chitta */
00036 
00037 #ifndef PR2_ARM_IK_NODE_H
00038 #define PR2_ARM_IK_NODE_H
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <tf/transform_listener.h>
00043 
00044 #include <angles/angles.h>
00045 #include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
00046 #include <tf_conversions/tf_kdl.h>
00047 
00048 #include <moveit_msgs/GetPositionFK.h>
00049 #include <moveit_msgs/GetPositionIK.h>
00050 #include <moveit_msgs/GetKinematicSolverInfo.h>
00051 #include <moveit_msgs/MoveItErrorCodes.h>
00052 
00053 #include <kdl/chainfksolverpos_recursive.hpp>
00054 
00055 #include <boost/shared_ptr.hpp>
00056 
00057 namespace pr2_arm_kinematics
00058 {
00059   class PR2ArmKinematics
00060   {
00061     public:
00062 
00073     PR2ArmKinematics(bool create_transform_listener = true);
00074 
00075     virtual ~PR2ArmKinematics();
00076 
00081     bool isActive();
00082 
00088     virtual bool getPositionIK(moveit_msgs::GetPositionIK::Request &request,
00089                                moveit_msgs::GetPositionIK::Response &response);
00090 
00096     bool getIKSolverInfo(moveit_msgs::GetKinematicSolverInfo::Request &request,
00097                          moveit_msgs::GetKinematicSolverInfo::Response &response);
00098 
00104     bool getFKSolverInfo(moveit_msgs::GetKinematicSolverInfo::Request &request,
00105                          moveit_msgs::GetKinematicSolverInfo::Response &response);
00106 
00112     bool getPositionFK(moveit_msgs::GetPositionFK::Request &request,
00113                        moveit_msgs::GetPositionFK::Response &response);
00114 
00115     protected:
00116 
00117     // Helper function that assumes that everything is in the correct frame
00118     bool getPositionIKHelper(moveit_msgs::GetPositionIK::Request &request,
00119                  moveit_msgs::GetPositionIK::Response &response);
00120 
00121     virtual bool transformPose(const std::string& des_frame,
00122                    const geometry_msgs::PoseStamped& pose_in,
00123                    geometry_msgs::PoseStamped& pose_out);
00124 
00125     bool active_;
00126     int free_angle_;
00127     urdf::Model robot_model_;
00128     double search_discretization_;
00129     ros::NodeHandle node_handle_, root_handle_;
00130     boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_ik_solver_;
00131     ros::ServiceServer ik_service_,fk_service_,ik_solver_info_service_,fk_solver_info_service_;
00132     tf::TransformListener* tf_;
00133     std::string root_name_;
00134     int dimension_;
00135     boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
00136     KDL::Chain kdl_chain_;
00137     moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
00138   };
00139 }
00140 
00141 #endif


pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Wed Aug 26 2015 15:36:29