state_solver.h

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#ifndef TESSERACT_STATE_SOLVER_STATE_SOLVER_H
#define TESSERACT_STATE_SOLVER_STATE_SOLVER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <string>
#include <memory>
#include <unordered_map>
#include <Eigen/Geometry>
#include <Eigen/Core>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_scene_graph/fwd.h>
#include <tesseract_common/eigen_types.h>
 
namespace tesseract_scene_graph
{
class StateSolver
{
public:
  using Ptr = std::shared_ptr<StateSolver>;
  using ConstPtr = std::shared_ptr<const StateSolver>;
  using UPtr = std::unique_ptr<StateSolver>;
  using ConstUPtr = std::unique_ptr<const StateSolver>;
 
  StateSolver() = default;
  virtual ~StateSolver() = default;
  StateSolver(const StateSolver&) = default;
  StateSolver& operator=(const StateSolver&) = default;
  StateSolver(StateSolver&&) = default;
  StateSolver& operator=(StateSolver&&) = default;
 
  virtual StateSolver::UPtr clone() const = 0;
 
  virtual void setState(const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                        const tesseract_common::TransformMap& floating_joint_values = {}) = 0;
 
  virtual void setState(const std::unordered_map<std::string, double>& joint_values,
                        const tesseract_common::TransformMap& floating_joint_values = {}) = 0;
  virtual void setState(const std::vector<std::string>& joint_names,
                        const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                        const tesseract_common::TransformMap& floating_joint_values = {}) = 0;
 
  virtual void setState(const tesseract_common::TransformMap& floating_joint_values) = 0;
 
  virtual SceneState getState(const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                              const tesseract_common::TransformMap& floating_joint_values = {}) const = 0;
 
  virtual SceneState getState(const std::unordered_map<std::string, double>& joint_values,
                              const tesseract_common::TransformMap& floating_joint_values = {}) const = 0;
  virtual SceneState getState(const std::vector<std::string>& joint_names,
                              const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                              const tesseract_common::TransformMap& floating_joint_values = {}) const = 0;
  virtual SceneState getState(const tesseract_common::TransformMap& floating_joint_values) const = 0;
 
  virtual SceneState getState() const = 0;
 
  virtual Eigen::MatrixXd getJacobian(const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                                      const std::string& link_name,
                                      const tesseract_common::TransformMap& floating_joint_values = {}) const = 0;
 
  virtual Eigen::MatrixXd getJacobian(const std::unordered_map<std::string, double>& joint_values,
                                      const std::string& link_name,
                                      const tesseract_common::TransformMap& floating_joint_values = {}) const = 0;
  virtual Eigen::MatrixXd getJacobian(const std::vector<std::string>& joint_names,
                                      const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                                      const std::string& link_name,
                                      const tesseract_common::TransformMap& floating_joint_values = {}) const = 0;
 
  virtual SceneState getRandomState() const = 0;
 
  virtual std::vector<std::string> getJointNames() const = 0;
 
  virtual std::vector<std::string> getFloatingJointNames() const = 0;
 
  virtual std::vector<std::string> getActiveJointNames() const = 0;
 
  virtual std::string getBaseLinkName() const = 0;
 
  virtual std::vector<std::string> getLinkNames() const = 0;
 
  virtual std::vector<std::string> getActiveLinkNames() const = 0;
 
  virtual std::vector<std::string> getStaticLinkNames() const = 0;
 
  virtual bool isActiveLinkName(const std::string& link_name) const = 0;
 
  virtual bool hasLinkName(const std::string& link_name) const = 0;
 
  virtual tesseract_common::VectorIsometry3d getLinkTransforms() const = 0;
 
  virtual Eigen::Isometry3d getLinkTransform(const std::string& link_name) const = 0;
 
  virtual Eigen::Isometry3d getRelativeLinkTransform(const std::string& from_link_name,
                                                     const std::string& to_link_name) const = 0;
 
  virtual tesseract_common::KinematicLimits getLimits() const = 0;
};
}  // namespace tesseract_scene_graph
 
#endif  // TESSERACT_STATE_SOLVER_STATE_SOLVER_H