kinematics_metrics.h

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/* Author: Sachin Chitta */
 
#pragma once
 
#include <moveit/robot_state/robot_state.h>
 
namespace kinematics_metrics
{
MOVEIT_CLASS_FORWARD(KinematicsMetrics);  // Defines KinematicsMetricsPtr, ConstPtr, WeakPtr... etc
 
class KinematicsMetrics
{
public:
  KinematicsMetrics(const moveit::core::RobotModelConstPtr& robot_model)
    : robot_model_(robot_model), penalty_multiplier_(0.0)
  {
  }
 
  bool getManipulabilityIndex(const moveit::core::RobotState& state, const std::string& group_name,
                              double& manipulability_index, bool translation = false) const;
 
  bool getManipulabilityIndex(const moveit::core::RobotState& state,
                              const moveit::core::JointModelGroup* joint_model_group, double& manipulability_index,
                              bool translation = false) const;
 
  bool getManipulabilityEllipsoid(const moveit::core::RobotState& state, const std::string& group_name,
                                  Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;
 
  bool getManipulabilityEllipsoid(const moveit::core::RobotState& state,
                                  const moveit::core::JointModelGroup* joint_model_group,
                                  Eigen::MatrixXcd& eigen_values, Eigen::MatrixXcd& eigen_vectors) const;
 
  bool getManipulability(const moveit::core::RobotState& state, const std::string& group_name, double& condition_number,
                         bool translation = false) const;
 
  bool getManipulability(const moveit::core::RobotState& state, const moveit::core::JointModelGroup* joint_model_group,
                         double& condition_number, bool translation = false) const;
 
  void setPenaltyMultiplier(double multiplier)
  {
    penalty_multiplier_ = fabs(multiplier);
  }
 
  const double& getPenaltyMultiplier() const
  {
    return penalty_multiplier_;
  }
 
protected:
  moveit::core::RobotModelConstPtr robot_model_;
 
private:
  double getJointLimitsPenalty(const moveit::core::RobotState& state,
                               const moveit::core::JointModelGroup* joint_model_group) const;
 
  double penalty_multiplier_;
};
}  // namespace kinematics_metrics