pr2_arm_kinematics_utils.h

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/* Author: Sachin Chitta */

#ifndef MOVEIT_PR2_ARM_IK_UTILS_
#define MOVEIT_PR2_ARM_IK_UTILS_

#include <ros/ros.h>
#include <vector>
#include <angles/angles.h>
#include <Eigen/Core>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>

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

using namespace angles;

namespace pr2_arm_kinematics
{
Eigen::Matrix4f KDLToEigenMatrix(const KDL::Frame& p);

double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::JntArray& array_2);

double distance(const urdf::Pose& transform);

bool solveQuadratic(const double& a, const double& b, const double& c, double* x1, double* x2);

Eigen::Matrix4f matrixInverse(const Eigen::Matrix4f& g);

bool solveCosineEqn(const double& a, const double& b, const double& c, double& soln1, double& soln2);

bool loadRobotModel(ros::NodeHandle node_handle, urdf::Model& robot_model, std::string& xml_string);

bool getKDLChain(const std::string& xml_string, const std::string& root_name, const std::string& tip_name,
                 KDL::Chain& kdl_chain);

bool getKDLTree(const std::string& xml_string, const std::string& root_name, const std::string& tip_name,
                KDL::Tree& kdl_chain);

bool checkJointNames(const std::vector<std::string>& joint_names, const moveit_msgs::KinematicSolverInfo& chain_info);

bool checkLinkNames(const std::vector<std::string>& link_names, const moveit_msgs::KinematicSolverInfo& chain_info);

bool checkLinkName(const std::string& link_name, const moveit_msgs::KinematicSolverInfo& chain_info);

bool checkRobotState(moveit_msgs::RobotState& robot_state, const moveit_msgs::KinematicSolverInfo& chain_info);

bool checkFKService(moveit_msgs::GetPositionFK::Request& request, moveit_msgs::GetPositionFK::Response& response,
                    const moveit_msgs::KinematicSolverInfo& chain_info);

bool checkIKService(moveit_msgs::GetPositionIK::Request& request, moveit_msgs::GetPositionIK::Response& response,
                    const moveit_msgs::KinematicSolverInfo& chain_info);

int getJointIndex(const std::string& name, const moveit_msgs::KinematicSolverInfo& chain_info);

bool convertPoseToRootFrame(const geometry_msgs::PoseStamped& pose_msg, KDL::Frame& pose_kdl,
                            const std::string& root_frame, tf::TransformListener& tf);

bool convertPoseToRootFrame(const geometry_msgs::PoseStamped& pose_msg, geometry_msgs::PoseStamped& pose_msg_out,
                            const std::string& root_frame, tf::TransformListener& tf);

int getKDLSegmentIndex(const KDL::Chain& chain, const std::string& name);

void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::KinematicSolverInfo& chain_info);
}

#endif  // PR2_ARM_IK_UTILS_H