pr2_arm_ik.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_H
#define MOVEIT_PR2_ARM_IK_H

#include <urdf/model.h>
#include <Eigen/Core>
#include <Eigen/LU>  // provides LU decomposition
#include <kdl/chainiksolver.hpp>
#include <moveit/pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <moveit/pr2_arm_kinematics/pr2_arm_kinematics_constants.h>

namespace pr2_arm_kinematics
{
class PR2ArmIK
{
public:
  PR2ArmIK();
  ~PR2ArmIK(){};

  bool init(const urdf::Model& robot_model, const std::string& root_name, const std::string& tip_name);

  void computeIKShoulderPan(const Eigen::Matrix4f& g_in, const double& shoulder_pan_initial_guess,
                            std::vector<std::vector<double> >& solution) const;

  void computeIKShoulderRoll(const Eigen::Matrix4f& g_in, const double& shoulder_roll_initial_guess,
                             std::vector<std::vector<double> >& solution) const;

  //  std::vector<std::vector<double> > solution_ik_;/// a vector of ik solutions

  void getSolverInfo(moveit_msgs::KinematicSolverInfo& info);

  moveit_msgs::KinematicSolverInfo solver_info_;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private:
  void addJointToChainInfo(urdf::JointConstSharedPtr joint, moveit_msgs::KinematicSolverInfo& info);

  bool checkJointLimits(const std::vector<double>& joint_values) const;

  bool checkJointLimits(const double& joint_value, const int& joint_num) const;

  Eigen::Matrix4f grhs_, gf_, home_inv_, home_;

  std::vector<double> angle_multipliers_;

  std::vector<double> solution_;

  double shoulder_upperarm_offset_, upperarm_elbow_offset_, elbow_wrist_offset_, shoulder_wrist_offset_,
      shoulder_elbow_offset_, torso_shoulder_offset_x_, torso_shoulder_offset_y_, torso_shoulder_offset_z_;

  std::vector<double> min_angles_;

  std::vector<double> max_angles_;

  std::vector<bool> continuous_joint_;
};
}
#endif  // PR2_ARM_IK_H