cartesianconfiguration.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019 Pilz GmbH & Co. KG
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Pilz GmbH & Co. KG nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
#pragma once
 
#include <vector>
#include <sstream>
#include <optional>
 
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/kinematic_constraints/utils.h>
 
#include "robotconfiguration.h"
#include "jointconfiguration.h"
 
namespace pilz_industrial_motion_planner_testutils
{
class CartesianConfiguration : public RobotConfiguration
{
public:
  CartesianConfiguration();
 
  CartesianConfiguration(const std::string& group_name, const std::string& link_name, const std::vector<double>& config);
 
  CartesianConfiguration(const std::string& group_name, const std::string& link_name, const std::vector<double>& config,
                         const moveit::core::RobotModelConstPtr& robot_model);
 
public:
  moveit_msgs::msg::Constraints toGoalConstraints() const override;
  moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override;
 
  void setLinkName(const std::string& link_name);
  const std::string& getLinkName() const;
 
  void setPose(const geometry_msgs::msg::Pose& pose);
  const geometry_msgs::msg::Pose& getPose() const;
  geometry_msgs::msg::Pose& getPose();
 
  void setSeed(const JointConfiguration& config);
  const JointConfiguration& getSeed() const;
  bool hasSeed() const;
 
  void setPoseTolerance(const double tol);
  const std::optional<double> getPoseTolerance() const;
 
  void setAngleTolerance(const double tol);
  const std::optional<double> getAngleTolerance() const;
 
private:
  static geometry_msgs::msg::Pose toPose(const std::vector<double>& pose);
  static geometry_msgs::msg::PoseStamped toStampedPose(const geometry_msgs::msg::Pose& pose);
 
private:
  std::string link_name_;
  geometry_msgs::msg::Pose pose_;
 
  std::optional<double> tolerance_pose_;
 
  std::optional<double> tolerance_angle_;
 
  std::optional<JointConfiguration> seed_;
};
 
std::ostream& operator<<(std::ostream& /*os*/, const CartesianConfiguration& /*obj*/);
 
inline void CartesianConfiguration::setLinkName(const std::string& link_name)
{
  link_name_ = link_name;
}
 
inline const std::string& CartesianConfiguration::getLinkName() const
{
  return link_name_;
}
 
inline void CartesianConfiguration::setPose(const geometry_msgs::msg::Pose& pose)
{
  pose_ = pose;
}
 
inline const geometry_msgs::msg::Pose& CartesianConfiguration::getPose() const
{
  return pose_;
}
 
inline geometry_msgs::msg::Pose& CartesianConfiguration::getPose()
{
  return pose_;
}
 
inline moveit_msgs::msg::Constraints CartesianConfiguration::toGoalConstraints() const
{
  if (!tolerance_pose_ || !tolerance_angle_)
  {
    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_));
  }
  else
  {
    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_), tolerance_pose_.value(),
                                                           tolerance_angle_.value());
  }
}
 
inline void CartesianConfiguration::setSeed(const JointConfiguration& config)
{
  seed_ = config;
}
 
inline const JointConfiguration& CartesianConfiguration::getSeed() const
{
  return seed_.value();
}
 
inline bool CartesianConfiguration::hasSeed() const
{
  return seed_.has_value();
}
 
inline void CartesianConfiguration::setPoseTolerance(const double tol)
{
  tolerance_pose_ = tol;
}
 
inline const std::optional<double> CartesianConfiguration::getPoseTolerance() const
{
  return tolerance_pose_;
}
 
inline void CartesianConfiguration::setAngleTolerance(const double tol)
{
  tolerance_angle_ = tol;
}
 
inline const std::optional<double> CartesianConfiguration::getAngleTolerance() const
{
  return tolerance_angle_;
}
}  // namespace pilz_industrial_motion_planner_testutils