trac_ik_kinematics_plugin.hpp

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#ifndef TRAC_IK_KINEMATICS_PLUGIN_
#define TRAC_IK_KINEMATICS_PLUGIN_

#include <moveit/kinematics_base/kinematics_base.h>
#include <kdl/chain.hpp>

namespace trac_ik_kinematics_plugin
{

  class TRAC_IKKinematicsPlugin : public kinematics::KinematicsBase
  {
    std::vector<std::string> joint_names_;
    std::vector<std::string> link_names_;

    uint num_joints_;
    bool active_; // Internal variable that indicates whether solvers are configured and ready

    KDL::Chain chain;
    bool position_ik_;

    KDL::JntArray joint_min, joint_max;

    std::string solve_type;

  public:
    const std::vector<std::string>& getJointNames() const { return joint_names_; }
    const std::vector<std::string>& getLinkNames() const { return link_names_; }


    TRAC_IKKinematicsPlugin(): active_(false), position_ik_(false){}

    ~TRAC_IKKinematicsPlugin() {
    }

    // Returns the first IK solution that is within joint limits, this is called by get_ik() service
    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;

    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;

    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;

    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;

    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;

    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 std::vector<double> &consistency_limits,
                          const kinematics::KinematicsQueryOptions &options) const;


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


    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);

  private:

    int getKDLSegmentIndex(const std::string &name) const;

  }; // end class
}

#endif