robot_model.h

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 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ioan A. Sucan
 *  Copyright (c) 2008-2013, Willow Garage, Inc.
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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/exceptions/exceptions.h>
#include <srdfdom/model.h>
 
// joint types
#include <moveit/robot_model/joint_model_group.h>
#include <moveit/robot_model/fixed_joint_model.h>
#include <moveit/robot_model/floating_joint_model.h>
#include <moveit/robot_model/planar_joint_model.h>
#include <moveit/robot_model/revolute_joint_model.h>
#include <moveit/robot_model/prismatic_joint_model.h>
#include <rclcpp/logging.hpp>
#include <Eigen/Geometry>
#include <iostream>
 
namespace moveit
{
namespace core
{
MOVEIT_CLASS_FORWARD(RobotModel);  // Defines RobotModelPtr, ConstPtr, WeakPtr... etc
 
static inline void checkInterpolationParamBounds(const rclcpp::Logger& LOGGER, double t)
{
  if (std::isnan(t) || std::isinf(t))
  {
    throw Exception("Interpolation parameter is NaN or inf.");
  }
 
  RCLCPP_WARN_STREAM_EXPRESSION(LOGGER, t < 0. || t > 1., "Interpolation parameter is not in the range [0, 1]: " << t);
}
 
class RobotModel
{
public:
  RobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model, const srdf::ModelConstSharedPtr& srdf_model);
 
  ~RobotModel();
 
  const std::string& getName() const
  {
    return model_name_;
  }
 
  const std::string& getModelFrame() const
  {
    return model_frame_;
  }
 
  bool isEmpty() const
  {
    return root_link_ == nullptr;
  }
 
  const urdf::ModelInterfaceSharedPtr& getURDF() const
  {
    return urdf_;
  }
 
  const srdf::ModelConstSharedPtr& getSRDF() const
  {
    return srdf_;
  }
 
  void printModelInfo(std::ostream& out) const;
 
  const JointModel* getRootJoint() const;
 
  const std::string& getRootJointName() const
  {
    return getRootJoint()->getName();
  }
 
  bool hasJointModel(const std::string& name) const;
 
  const JointModel* getJointModel(const std::string& joint) const;
 
  const JointModel* getJointModel(size_t index) const;
 
  JointModel* getJointModel(const std::string& joint);
 
  const std::vector<const JointModel*>& getJointModels() const
  {
    return joint_model_vector_const_;
  }
 
  const std::vector<JointModel*>& getJointModels()
  {
    return joint_model_vector_;
  }
 
  const std::vector<std::string>& getJointModelNames() const
  {
    return joint_model_names_vector_;
  }
 
  const std::vector<const JointModel*>& getActiveJointModels() const
  {
    return active_joint_model_vector_const_;
  }
 
  const std::vector<std::string>& getActiveJointModelNames() const
  {
    return active_joint_model_names_vector_;
  }
 
  const std::vector<JointModel*>& getActiveJointModels()
  {
    return active_joint_model_vector_;
  }
 
  const std::vector<const JointModel*>& getSingleDOFJointModels() const
  {
    return single_dof_joints_;
  }
 
  const std::vector<const JointModel*>& getMultiDOFJointModels() const
  {
    return multi_dof_joints_;
  }
 
  const std::vector<const JointModel*>& getContinuousJointModels() const
  {
    return continuous_joint_model_vector_;
  }
 
  const std::vector<const JointModel*>& getMimicJointModels() const
  {
    return mimic_joints_;
  }
 
  const JointModel* getJointOfVariable(int variable_index) const
  {
    return joints_of_variable_[variable_index];
  }
 
  const JointModel* getJointOfVariable(const std::string& variable) const
  {
    return joints_of_variable_[getVariableIndex(variable)];
  }
 
  std::size_t getJointModelCount() const
  {
    return joint_model_vector_.size();
  }
 
  const LinkModel* getRootLink() const;
 
  const std::string& getRootLinkName() const
  {
    return getRootLink()->getName();
  }
 
  bool hasLinkModel(const std::string& name) const;
 
  const LinkModel* getLinkModel(const std::string& link, bool* has_link = nullptr) const;
 
  const LinkModel* getLinkModel(size_t index) const;
 
  LinkModel* getLinkModel(const std::string& link, bool* has_link = nullptr);
 
  static const LinkModel* getRigidlyConnectedParentLinkModel(const LinkModel* link,
                                                             const JointModelGroup* jmg = nullptr);
 
  const std::vector<const LinkModel*>& getLinkModels() const
  {
    return link_model_vector_const_;
  }
 
  const std::vector<LinkModel*>& getLinkModels()
  {
    return link_model_vector_;
  }
 
  const std::vector<std::string>& getLinkModelNames() const
  {
    return link_model_names_vector_;
  }
 
  const std::vector<const LinkModel*>& getLinkModelsWithCollisionGeometry() const
  {
    return link_models_with_collision_geometry_vector_;
  }
 
  const std::vector<std::string>& getLinkModelNamesWithCollisionGeometry() const
  {
    return link_model_names_with_collision_geometry_vector_;
  }
 
  std::size_t getLinkModelCount() const
  {
    return link_model_vector_.size();
  }
 
  std::size_t getLinkGeometryCount() const
  {
    return link_geometry_count_;
  }
 
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values) const;
 
  void getVariableDefaultPositions(double* values) const;
 
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, std::vector<double>& values) const
  {
    values.resize(variable_count_);
    getVariableRandomPositions(rng, &values[0]);
  }
 
  void getVariableDefaultPositions(std::vector<double>& values) const
  {
    values.resize(variable_count_);
    getVariableDefaultPositions(&values[0]);
  }
 
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng,
                                  std::map<std::string, double>& values) const;
 
  void getVariableDefaultPositions(std::map<std::string, double>& values) const;
 
  bool enforcePositionBounds(double* state) const
  {
    return enforcePositionBounds(state, active_joint_models_bounds_);
  }
  bool enforcePositionBounds(double* state, const JointBoundsVector& active_joint_bounds) const;
  bool satisfiesPositionBounds(const double* state, double margin = 0.0) const
  {
    return satisfiesPositionBounds(state, active_joint_models_bounds_, margin);
  }
  bool satisfiesPositionBounds(const double* state, const JointBoundsVector& active_joint_bounds,
                               double margin = 0.0) const;
  double getMaximumExtent() const
  {
    return getMaximumExtent(active_joint_models_bounds_);
  }
  double getMaximumExtent(const JointBoundsVector& active_joint_bounds) const;
 
  double distance(const double* state1, const double* state2) const;
 
  void interpolate(const double* from, const double* to, double t, double* state) const;
 
  bool hasJointModelGroup(const std::string& group) const;
 
  const JointModelGroup* getJointModelGroup(const std::string& name) const;
 
  JointModelGroup* getJointModelGroup(const std::string& name);
 
  const std::vector<const JointModelGroup*>& getJointModelGroups() const
  {
    return joint_model_groups_const_;
  }
 
  const std::vector<JointModelGroup*>& getJointModelGroups()
  {
    return joint_model_groups_;
  }
 
  const std::vector<std::string>& getJointModelGroupNames() const
  {
    return joint_model_group_names_;
  }
 
  bool hasEndEffector(const std::string& eef) const;
 
  const JointModelGroup* getEndEffector(const std::string& name) const;
 
  JointModelGroup* getEndEffector(const std::string& name);
 
  const std::vector<const JointModelGroup*>& getEndEffectors() const
  {
    return end_effectors_;
  }
 
  std::size_t getVariableCount() const
  {
    return variable_count_;
  }
 
  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }
 
  const VariableBounds& getVariableBounds(const std::string& variable) const
  {
    return getJointOfVariable(variable)->getVariableBounds(variable);
  }
 
  const JointBoundsVector& getActiveJointModelsBounds() const
  {
    return active_joint_models_bounds_;
  }
 
  void getMissingVariableNames(const std::vector<std::string>& variables,
                               std::vector<std::string>& missing_variables) const;
 
  size_t getVariableIndex(const std::string& variable) const;
 
  const JointModel* getCommonRoot(const JointModel* a, const JointModel* b) const
  {
    if (!a)
      return b;
    if (!b)
      return a;
    return joint_model_vector_[common_joint_roots_[a->getJointIndex() * joint_model_vector_.size() + b->getJointIndex()]];
  }
 
  void setKinematicsAllocators(const std::map<std::string, SolverAllocatorFn>& allocators);
 
protected:
  void computeFixedTransforms(const LinkModel* link, const Eigen::Isometry3d& transform,
                              LinkTransformMap& associated_transforms);
 
  const JointModel* computeCommonRoot(const JointModel* a, const JointModel* b) const;
 
  void updateMimicJoints(double* values) const;
 
  // GENERIC INFO
 
  std::string model_name_;
 
  std::string model_frame_;
 
  srdf::ModelConstSharedPtr srdf_;
 
  urdf::ModelInterfaceSharedPtr urdf_;
 
  // LINKS
 
  const LinkModel* root_link_;
 
  LinkModelMap link_model_map_;
 
  std::vector<LinkModel*> link_model_vector_;
 
  std::vector<const LinkModel*> link_model_vector_const_;
 
  std::vector<std::string> link_model_names_vector_;
 
  std::vector<const LinkModel*> link_models_with_collision_geometry_vector_;
 
  std::vector<std::string> link_model_names_with_collision_geometry_vector_;
 
  std::size_t link_geometry_count_;
 
  // JOINTS
 
  const JointModel* root_joint_;
 
  JointModelMap joint_model_map_;
 
  std::vector<JointModel*> joint_model_vector_;
 
  std::vector<const JointModel*> joint_model_vector_const_;
 
  std::vector<std::string> joint_model_names_vector_;
 
  std::vector<JointModel*> active_joint_model_vector_;
 
  std::vector<std::string> active_joint_model_names_vector_;
 
  std::vector<const JointModel*> active_joint_model_vector_const_;
 
  std::vector<const JointModel*> continuous_joint_model_vector_;
 
  std::vector<const JointModel*> mimic_joints_;
 
  std::vector<const JointModel*> single_dof_joints_;
 
  std::vector<const JointModel*> multi_dof_joints_;
 
  std::vector<int> common_joint_roots_;
 
  // INDEXING
 
  std::vector<std::string> variable_names_;
 
  std::size_t variable_count_;
 
  VariableIndexMap joint_variables_index_map_;
 
  std::vector<int> active_joint_model_start_index_;
 
  JointBoundsVector active_joint_models_bounds_;
 
  std::vector<const JointModel*> joints_of_variable_;
 
  // GROUPS
 
  JointModelGroupMap joint_model_group_map_;
 
  JointModelGroupMap end_effectors_map_;
 
  std::vector<JointModelGroup*> joint_model_groups_;
 
  std::vector<const JointModelGroup*> joint_model_groups_const_;
 
  std::vector<std::string> joint_model_group_names_;
 
  std::vector<const JointModelGroup*> end_effectors_;
 
private:
  void buildModel(const urdf::ModelInterface& urdf_model, const srdf::Model& srdf_model);
 
  void buildGroups(const srdf::Model& srdf_model);
 
  void buildGroupsInfoSubgroups();
 
  void buildGroupsInfoEndEffectors(const srdf::Model& srdf_model);
 
  void buildMimic(const urdf::ModelInterface& urdf_model);
 
  void buildGroupStates(const srdf::Model& srdf_model);
 
  void buildJointInfo();
 
  void computeDescendants();
 
  void computeCommonRoots();
 
  JointModel* buildRecursive(LinkModel* parent, const urdf::Link* link, const srdf::Model& srdf_model);
 
  bool addJointModelGroup(const srdf::Model::Group& group);
 
  JointModel* constructJointModel(const urdf::Link* child_link, const srdf::Model& srdf_model);
 
  LinkModel* constructLinkModel(const urdf::Link* urdf_link);
 
  shapes::ShapePtr constructShape(const urdf::Geometry* geom);
};
}  // namespace core
}  // namespace moveit