kinematics_plugin_loader.h

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/* Author: Ioan Sucan, Dave Coleman */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/kinematics_base/kinematics_base.h>
 
namespace kinematics_plugin_loader
{
MOVEIT_CLASS_FORWARD(KinematicsPluginLoader);  // Defines KinematicsPluginLoaderPtr, ConstPtr, WeakPtr... etc
 
class KinematicsPluginLoader
{
public:
  KinematicsPluginLoader(const rclcpp::Node::SharedPtr& node,
                         const std::string& robot_description = "robot_description",
                         double default_search_resolution = 0.0)
    : node_(node), robot_description_(robot_description), default_search_resolution_(default_search_resolution)
  {
  }
 
  KinematicsPluginLoader(const rclcpp::Node::SharedPtr& node, const std::string& solver_plugin, double solve_timeout,
                         const std::string& robot_description = "robot_description",
                         double default_search_resolution = 0.0)
    : node_(node)
    , robot_description_(robot_description)
    , default_search_resolution_(default_search_resolution)
    , default_solver_plugin_(solver_plugin)
    , default_solver_timeout_(solve_timeout)
  {
  }
 
  moveit::core::SolverAllocatorFn getLoaderFunction();
 
  moveit::core::SolverAllocatorFn getLoaderFunction(const srdf::ModelSharedPtr& srdf_model);
 
  const std::vector<std::string>& getKnownGroups() const
  {
    return groups_;
  }
 
  const std::map<std::string, double>& getIKTimeout() const
  {
    return ik_timeout_;
  }
 
  void status() const;
 
private:
  const rclcpp::Node::SharedPtr node_;
  std::string robot_description_;
  double default_search_resolution_;
 
  MOVEIT_CLASS_FORWARD(KinematicsLoaderImpl);  // Defines KinematicsLoaderImplPtr, ConstPtr, WeakPtr... etc
  KinematicsLoaderImplPtr loader_;
 
  std::vector<std::string> groups_;
  std::map<std::string, double> ik_timeout_;
 
  // default configuration
  std::string default_solver_plugin_;
  double default_solver_timeout_;
};
}  // namespace kinematics_plugin_loader