pr2_arm_ik_solver.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_SOLVER_
#define MOVEIT_PR2_ARM_IK_SOLVER_

#include <urdf/model.h>
#include <Eigen/Core>
#include <kdl/chainiksolver.hpp>
#include <moveit/pr2_arm_kinematics/pr2_arm_ik.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/PositionIKRequest.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf_conversions/tf_kdl.h>

namespace pr2_arm_kinematics
{
static const int NO_IK_SOLUTION = -1;
static const int TIMED_OUT = -2;

class PR2ArmIKSolver : public KDL::ChainIkSolverPos
{
public:
  PR2ArmIKSolver(const urdf::Model& robot_model, const std::string& root_frame_name, const std::string& tip_frame_name,
                 const double& search_discretization_angle, const int& free_angle);

  ~PR2ArmIKSolver()
  {
    delete pr2_arm_ik_;
  };

  virtual void updateInternalDataStructures();

  PR2ArmIK* pr2_arm_ik_;

  bool active_;

  int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out);

  int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, std::vector<KDL::JntArray>& q_out);

  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, std::vector<KDL::JntArray>& q_out,
                      const double& timeout);

  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout);

  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout,
                      const double& consistency_limit);

  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout,
                      moveit_msgs::MoveItErrorCodes& error_code,
                      const kinematics::KinematicsBase::IKCallbackFn& solution_callback);

  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout,
                      const double& consistency_limit, moveit_msgs::MoveItErrorCodes& error_code,
                      const kinematics::KinematicsBase::IKCallbackFn& solution_callback);

  void getSolverInfo(moveit_msgs::KinematicSolverInfo& response);

  std::string getFrameId();

  unsigned int getFreeAngle() const
  {
    return free_angle_;
  }

  void setFreeAngle(const unsigned int& free_angle)
  {
    free_angle_ = free_angle;
  }

private:
  int CartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, const double& timeout,
                      bool use_consistency_limit, const double& consistency_limit,
                      moveit_msgs::MoveItErrorCodes& error_code,
                      const kinematics::KinematicsBase::IKCallbackFn& solution_callback);

  bool getCount(int& count, const int& max_count, const int& min_count);

  double search_discretization_angle_;

  int free_angle_;

  std::string root_frame_name_;
};
}
#endif  // PR2_ARM_IK_SOLVER_H