pr2_arm_kinematics_plugin.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 <moveit/pr2_arm_kinematics/pr2_arm_ik_solver.h>
#include <tf_conversions/tf_kdl.h>

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>

#include <boost/shared_ptr.hpp>

#include <moveit/kinematics_base/kinematics_base.h>

namespace pr2_arm_kinematics
{
class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
{
public:
  PR2ArmKinematicsPlugin();

  bool isActive();

  virtual 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;

  virtual 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;

  virtual 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;

  virtual 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;

  virtual 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;

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

  virtual bool initialize(const std::string& robot_description, const std::string& group_name,
                          const std::string& base_frame, const std::string& tip_frame, double search_discretization);

  const std::vector<std::string>& getJointNames() const;

  const std::vector<std::string>& getLinkNames() const;

protected:
  bool active_;
  int free_angle_;
  urdf::Model robot_model_;
  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_;
  moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
};
}

#endif