.. _program_listing_file__tmp_ws_src_pick_ik_include_pick_ik_robot.hpp:

Program Listing for File robot.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_pick_ik_include_pick_ik_robot.hpp>` (``/tmp/ws/src/pick_ik/include/pick_ik/robot.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <tl_expected/expected.hpp>
   
   #include <Eigen/Geometry>
   #include <moveit/robot_model/joint_model.h>
   #include <moveit/robot_model/joint_model_group.h>
   #include <moveit/robot_model/robot_model.h>
   #include <string>
   #include <vector>
   
   namespace pick_ik {
   
   struct Robot {
       struct Variable {
           double clip_min, clip_max;
           double span;
           double min;
           double max;
           double max_velocity_rcp;
           double minimal_displacement_factor;
       };
       std::vector<Variable> variables;
   
       static auto from(std::shared_ptr<moveit::core::RobotModel const> const& model,
                        moveit::core::JointModelGroup const* jmg,
                        std::vector<size_t> tip_link_indices) -> Robot;
   
       auto get_random_valid_configuration() const -> std::vector<double>;
   
       auto is_valid_configuration(std::vector<double> const& config) const -> bool;
   };
   
   auto get_link_indices(std::shared_ptr<moveit::core::RobotModel const> const& model,
                         std::vector<std::string> const& names)
       -> tl::expected<std::vector<size_t>, std::string>;
   
   auto get_active_variable_indices(std::shared_ptr<moveit::core::RobotModel const> const& robot_model,
                                    moveit::core::JointModelGroup const* jmg,
                                    std::vector<size_t> const& tip_link_indices)
       -> std::vector<size_t>;
   
   auto get_minimal_displacement_factors(std::vector<size_t> const& active_variable_indices,
                                         Robot const& robot) -> std::vector<double>;
   
   auto get_variables(moveit::core::RobotState const& robot_state) -> std::vector<double>;
   
   auto transform_poses_to_frames(moveit::core::RobotState const& robot_state,
                                  std::vector<geometry_msgs::msg::Pose> const& poses,
                                  std::string const& base_frame_name)
       -> std::vector<Eigen::Isometry3d>;
   
   }  // namespace pick_ik