kdl_parser.h

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/* Author: Wim Meeussen & Levi Armstrong */
 
#ifndef TESSERACT_SCENE_GRAPH_KDL_PARSER_H
#define TESSERACT_SCENE_GRAPH_KDL_PARSER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <string>
#include <vector>
#include <memory>
#include <unordered_map>
#include <Eigen/Geometry>
 
#include <kdl/tree.hpp>
#include <kdl/jacobian.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/eigen_types.h>
 
namespace tesseract_scene_graph
{
class SceneGraph;
class Joint;
class Inertial;
 
KDL::Frame convert(const Eigen::Isometry3d& transform);
 
Eigen::Isometry3d convert(const KDL::Frame& frame);
 
KDL::Vector convert(const Eigen::Vector3d& vector);
 
Eigen::Vector3d convert(const KDL::Vector& vector);
 
Eigen::MatrixXd convert(const KDL::Jacobian& jacobian);
 
KDL::Jacobian convert(const Eigen::MatrixXd& jacobian);
 
Eigen::MatrixXd convert(const KDL::Jacobian& jacobian, const std::vector<int>& q_nrs);
 
KDL::Joint convert(const std::shared_ptr<const Joint>& joint);
 
KDL::RigidBodyInertia convert(const std::shared_ptr<const Inertial>& inertial);
 
struct KDLTreeData
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  KDL::Tree tree;
  std::string base_link_name;
  std::vector<std::string> joint_names;
  std::vector<std::string> active_joint_names;
  std::vector<std::string> floating_joint_names;
  std::vector<std::string> link_names;
  std::vector<std::string> active_link_names;
  std::vector<std::string> static_link_names;
  tesseract_common::TransformMap floating_joint_values;
 
  bool operator==(const KDLTreeData& rhs) const;
  bool operator!=(const KDLTreeData& rhs) const;
};
 
KDLTreeData parseSceneGraph(const SceneGraph& scene_graph);
 
KDLTreeData parseSceneGraph(const SceneGraph& scene_graph,
                            const std::vector<std::string>& joint_names,
                            const std::unordered_map<std::string, double>& joint_values,
                            const tesseract_common::TransformMap& floating_joint_values = {});
 
}  // namespace tesseract_scene_graph
 
#endif  // TESSERACT_SCENE_GRAPH_KDL_PARSER_H