kdl_kinematics_plugin.h

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/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */
 
#pragma once
 
// ROS
#include <rclcpp/rclcpp.hpp>
#include <random_numbers/random_numbers.h>
 
// ROS msgs
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit_msgs/srv/get_position_fk.hpp>
#include <moveit_msgs/srv/get_position_ik.hpp>
#include <moveit_msgs/msg/kinematic_solver_info.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
 
// KDL
#include <kdl/config.h>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainiksolver.hpp>
 
// MoveIt
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
 
#include <cfloat>
 
namespace KDL
{
class ChainIkSolverVelMimicSVD;
}
 
namespace kdl_kinematics_plugin
{
class KDLKinematicsPlugin : public kinematics::KinematicsBase
{
public:
  KDLKinematicsPlugin();
 
  bool
  getPositionIK(const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state,
                std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      const std::vector<double>& consistency_limits, std::vector<double>& solution,
      moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      std::vector<double>& solution, const IKCallbackFn& solution_callback,
      moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      const std::vector<double>& consistency_limits, std::vector<double>& solution,
      const IKCallbackFn& solution_callback, moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
                     std::vector<geometry_msgs::msg::Pose>& poses) const override;
 
  bool initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModel& robot_model,
                  const std::string& group_name, const std::string& base_frame,
                  const std::vector<std::string>& tip_frames, double search_discretization) override;
 
  const std::vector<std::string>& getJointNames() const override;
 
  const std::vector<std::string>& getLinkNames() const override;
 
protected:
  typedef Eigen::Matrix<double, 6, 1> Twist;
 
  // NOLINTNEXTLINE(readability-identifier-naming)
  int CartToJnt(KDL::ChainIkSolverVelMimicSVD& ik_solver, const KDL::JntArray& q_init, const KDL::Frame& p_in,
                KDL::JntArray& q_out, const unsigned int max_iter, const Eigen::VectorXd& joint_weights,
                const Twist& cartesian_weights) const;
 
private:
  void getJointWeights();
  bool timedOut(const rclcpp::Time& start_time, double duration) const;
 
  bool checkConsistency(const Eigen::VectorXd& seed_state, const std::vector<double>& consistency_limits,
                        const Eigen::VectorXd& solution) const;
 
  void getRandomConfiguration(Eigen::VectorXd& jnt_array) const;
 
  void getRandomConfiguration(const Eigen::VectorXd& seed_state, const std::vector<double>& consistency_limits,
                              Eigen::VectorXd& jnt_array) const;
 
  void clipToJointLimits(const KDL::JntArray& q, KDL::JntArray& q_delta, Eigen::ArrayXd& weighting) const;
 
  static rclcpp::Clock steady_clock_;
 
  bool initialized_;  
 
  unsigned int dimension_;                             
  moveit_msgs::msg::KinematicSolverInfo solver_info_;  
 
  const moveit::core::JointModelGroup* joint_model_group_;
  moveit::core::RobotStatePtr state_;
  KDL::Chain kdl_chain_;
  std::unique_ptr<KDL::ChainFkSolverPos> fk_solver_;
  std::vector<JointMimic> mimic_joints_;
  std::vector<double> joint_weights_;
  Eigen::VectorXd joint_min_, joint_max_;  
 
  int max_solver_iterations_;
  double epsilon_;
  double orientation_vs_position_weight_;
};
}  // namespace kdl_kinematics_plugin