pose_model_state_space.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/ompl_interface/parameterization/model_based_state_space.h>
#include <ompl/base/spaces/SE3StateSpace.h>
 
namespace ompl_interface
{
class PoseModelStateSpace : public ModelBasedStateSpace
{
public:
  static const std::string PARAMETERIZATION_TYPE;
 
  class StateType : public ModelBasedStateSpace::StateType
  {
  public:
    enum
    {
      JOINTS_COMPUTED = 256,
      POSE_COMPUTED = 512
    };
 
    StateType() : ModelBasedStateSpace::StateType(), poses(nullptr)
    {
      flags |= JOINTS_COMPUTED;
    }
 
    bool jointsComputed() const
    {
      return flags & JOINTS_COMPUTED;
    }
 
    bool poseComputed() const
    {
      return flags & POSE_COMPUTED;
    }
 
    void setJointsComputed(bool value)
    {
      if (value)
        flags |= JOINTS_COMPUTED;
      else
        flags &= ~JOINTS_COMPUTED;
    }
 
    void setPoseComputed(bool value)
    {
      if (value)
        flags |= POSE_COMPUTED;
      else
        flags &= ~POSE_COMPUTED;
    }
 
    ompl::base::SE3StateSpace::StateType** poses;
  };
 
  PoseModelStateSpace(const ModelBasedStateSpaceSpecification& spec);
  ~PoseModelStateSpace() override;
 
  ompl::base::State* allocState() const override;
  void freeState(ompl::base::State* state) const override;
  void copyState(ompl::base::State* destination, const ompl::base::State* source) const override;
  void interpolate(const ompl::base::State* from, const ompl::base::State* to, const double t,
                   ompl::base::State* state) const override;
  double distance(const ompl::base::State* state1, const ompl::base::State* state2) const override;
  double getMaximumExtent() const override;
 
  ompl::base::StateSamplerPtr allocDefaultStateSampler() const override;
 
  bool computeStateFK(ompl::base::State* state) const;
  bool computeStateIK(ompl::base::State* state) const;
  bool computeStateK(ompl::base::State* state) const;
 
  void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ) override;
  void copyToOMPLState(ompl::base::State* state, const moveit::core::RobotState& rstate) const override;
  void sanityChecks() const override;
 
  const std::string& getParameterizationType() const override
  {
    return PARAMETERIZATION_TYPE;
  }
 
private:
  struct PoseComponent
  {
    PoseComponent(const moveit::core::JointModelGroup* subgroup,
                  const moveit::core::JointModelGroup::KinematicsSolver& k);
 
    bool computeStateFK(StateType* full_state, unsigned int idx) const;
    bool computeStateIK(StateType* full_state, unsigned int idx) const;
 
    bool operator<(const PoseComponent& o) const
    {
      return subgroup_->getName() < o.subgroup_->getName();
    }
 
    const moveit::core::JointModelGroup* subgroup_;
    kinematics::KinematicsBasePtr kinematics_solver_;
    std::vector<size_t> bijection_;
    ompl::base::StateSpacePtr state_space_;
    std::vector<std::string> fk_link_;
  };
 
  std::vector<PoseComponent> poses_;
  double jump_factor_;
};
}  // namespace ompl_interface