pr2_arm_kinematics.h

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/* Author: Sachin Chitta */

#ifndef PR2_ARM_IK_NODE_H
#define PR2_ARM_IK_NODE_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

#include <angles/angles.h>
#include <pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <tf_conversions/tf_kdl.h>

#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

namespace pr2_arm_kinematics
{
class PR2ArmKinematics
{
public:
  PR2ArmKinematics(bool create_transform_listener = true);

  virtual ~PR2ArmKinematics();

  bool isActive();

  virtual bool getPositionIK(kinematics_msgs::GetPositionIK::Request& request,
                             kinematics_msgs::GetPositionIK::Response& response);

  bool getIKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request& request,
                       kinematics_msgs::GetKinematicSolverInfo::Response& response);

  bool getFKSolverInfo(kinematics_msgs::GetKinematicSolverInfo::Request& request,
                       kinematics_msgs::GetKinematicSolverInfo::Response& response);

  bool getPositionFK(kinematics_msgs::GetPositionFK::Request& request,
                     kinematics_msgs::GetPositionFK::Response& response);

protected:
  // Helper function that assumes that everything is in the correct frame
  bool getPositionIKHelper(kinematics_msgs::GetPositionIK::Request& request,
                           kinematics_msgs::GetPositionIK::Response& response);

  virtual bool transformPose(const std::string& des_frame, const geometry_msgs::PoseStamped& pose_in,
                             geometry_msgs::PoseStamped& pose_out);

  bool active_;
  int free_angle_;
  urdf::Model robot_model_;
  double search_discretization_;
  ros::NodeHandle node_handle_, root_handle_;
  boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_ik_solver_;
  ros::ServiceServer ik_service_, fk_service_, ik_solver_info_service_, fk_solver_info_service_;
  tf::TransformListener* tf_;
  std::string root_name_;
  int dimension_;
  boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
  KDL::Chain kdl_chain_;
  kinematics_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
};
}

#endif