kinematics_constraint_aware.h

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#pragma once
 
// ROS msgs
#include <moveit_msgs/GetConstraintAwarePositionIK.h>
#include <geometry_msgs/PoseStamped.h>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
 
// Plugin
#include <moveit/kinematics_base/kinematics_base.h>
 
// MoveIt
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <moveit/kinematics_constraint_aware/kinematics_request_response.h>
 
namespace kinematics_constraint_aware
{
class KinematicsConstraintAware;
typedef std::shared_ptr<KinematicsConstraintAware> KinematicsConstraintAwarePtr;
typedef std::shared_ptr<const KinematicsConstraintAware> KinematicsConstraintAwareConstPtr;
 
class KinematicsConstraintAware
{
public:
  KinematicsConstraintAware(const moveit::core::RobotModelConstPtr& kinematic_model, const std::string& group_name);
 
  bool getIK(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const kinematics_constraint_aware::KinematicsRequest& request,
             kinematics_constraint_aware::KinematicsResponse& response) const;
 
  bool getIK(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::msg::GetConstraintAwarePositionIK::Request& request,
             moveit_msgs::msg::GetConstraintAwarePositionIK::Response& response) const;
 
  const std::string& getGroupName() const
  {
    return group_name_;
  }
 
  const moveit::core::RobotModelConstPtr& getRobotModel() const
  {
    return kinematic_model_;
  }
 
private:
  EigenSTL::vector_Isometry3d transformPoses(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                             const moveit::core::RobotState& kinematic_state,
                                             const std::vector<geometry_msgs::PoseStamped>& poses,
                                             const std::string& target_frame) const;
 
  bool convertServiceRequest(const planning_scene::PlanningSceneConstPtr& planning_scene,
                             const moveit_msgs::msg::GetConstraintAwarePositionIK::Request& request,
                             kinematics_constraint_aware::KinematicsRequest& kinematics_request,
                             kinematics_constraint_aware::KinematicsResponse& kinematics_response) const;
 
  geometry_msgs::Pose getTipFramePose(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                      const moveit::core::RobotState& kinematic_state, const geometry_msgs::Pose& pose,
                                      const std::string& link_name, unsigned int sub_group_index) const;
 
  bool validityCallbackFn(const planning_scene::PlanningSceneConstPtr& planning_scene,
                          const kinematics_constraint_aware::KinematicsRequest& request,
                          kinematics_constraint_aware::KinematicsResponse& response,
                          moveit::core::JointStateGroup* joint_state_group,
                          const std::vector<double>& joint_group_variable_values) const;
 
  std::vector<std::string> sub_groups_names_;
 
  moveit::core::RobotModelConstPtr kinematic_model_;
 
  const moveit::core::JointModelGroup* joint_model_group_;
 
  std::string group_name_;
 
  bool has_sub_groups_;
 
  unsigned int ik_attempts_;
};
}  // namespace kinematics_constraint_aware