kinematics_service_capability.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/get_position_ik.hpp>
#include <moveit_msgs/srv/get_position_fk.hpp>
 
namespace move_group
{
class MoveGroupKinematicsService : public MoveGroupCapability
{
public:
  MoveGroupKinematicsService();
 
  void initialize() override;
 
private:
  bool computeIKService(const std::shared_ptr<rmw_request_id_t>& request_header,
                        const std::shared_ptr<moveit_msgs::srv::GetPositionIK::Request>& req,
                        const std::shared_ptr<moveit_msgs::srv::GetPositionIK::Response>& res);
  bool computeFKService(const std::shared_ptr<rmw_request_id_t>& request_header,
                        const std::shared_ptr<moveit_msgs::srv::GetPositionFK::Request>& req,
                        const std::shared_ptr<moveit_msgs::srv::GetPositionFK::Response>& res);
 
  void computeIK(moveit_msgs::msg::PositionIKRequest& req, moveit_msgs::msg::RobotState& solution,
                 moveit_msgs::msg::MoveItErrorCodes& error_code, moveit::core::RobotState& rs,
                 const moveit::core::GroupStateValidityCallbackFn& constraint =
                     moveit::core::GroupStateValidityCallbackFn()) const;
 
  rclcpp::Service<moveit_msgs::srv::GetPositionFK>::SharedPtr fk_service_;
  rclcpp::Service<moveit_msgs::srv::GetPositionIK>::SharedPtr ik_service_;
};
}  // namespace move_group