kinematics_request_response.h

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#pragma once
 
// ROS msgs
#include <geometry_msgs/PoseStamped.h>
 
// MoveIt
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
 
// std
#include <memory>
 
namespace kinematics_constraint_aware
{
class KinematicsRequest
{
public:
  KinematicsRequest()
  {
  }
 
  virtual ~KinematicsRequest(){};
 
  std::vector<geometry_msgs::PoseStamped> pose_stamped_vector_;
 
  std::vector<std::string> ik_link_names_;
 
  moveit::core::RobotStatePtr robot_state_;
 
  kinematic_constraints::KinematicConstraintSetPtr constraints_;
 
  ros::Duration timeout_;
 
  std::string group_name_;
 
  bool check_for_collisions_;
 
  moveit::core::StateValidityCallbackFn constraint_callback_;
};
 
class KinematicsResponse
{
public:
  KinematicsResponse()
  {
  }
 
  virtual ~KinematicsResponse(){};
 
  moveit::core::RobotStatePtr solution_;
 
  std::vector<kinematic_constraints::ConstraintEvaluationResult> constraint_eval_results_;
 
  collision_detection::CollisionResult collision_result_;
 
  moveit_msgs::msg::MoveItErrorCodes error_code_;
 
  bool result_;
};
}  // namespace kinematics_constraint_aware