kinematics_cache.h

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#pragma once
 
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
 
#include <memory>
 
namespace kinematics_cache
{
class KinematicsCache
{
public:
  struct Options
  {
    geometry_msgs::Point origin;
    std::array<double, 3> workspace_size;
    std::array<double, 3> resolution;
    unsigned int max_solutions_per_grid_location;
  };
 
  KinematicsCache();
 
  bool generateCacheMap(double timeout);
 
  bool getSolution(const geometry_msgs::Pose& pose, unsigned int solution_index, std::vector<double>& solution) const;
 
  bool getSolutions(const geometry_msgs::Pose& pose, std::vector<std::vector<double> >& solutions) const;
 
  bool getNumSolutions(const geometry_msgs::Pose& pose, unsigned int& num_solutions) const;
 
  bool initialize(kinematics::KinematicsBaseConstPtr& solver, const moveit::core::RobotModelConstPtr& kinematic_model,
                  const KinematicsCache::Options& opt);
 
  const kinematics::KinematicsBaseConstPtr& getSolverInstance() const
  {
    return kinematics_solver_;
  }
 
  const moveit::core::RobotModelConstPtr& getModelInstance() const
  {
    return kinematic_model_;
  }
 
  const Options& getCacheParameters() const
  {
    return options_;
  }
 
  const std::string& getGroupName() const
  {
    return kinematics_solver_->getGroupName();
  }
 
  bool addToCache(const geometry_msgs::Pose& pose, const std::vector<double>& joint_values, bool overwrite = false);
 
  bool writeToFile(const std::string& filename);
 
  bool readFromFile(const std::string& filename);
 
  std::pair<double, double> getMinMaxSquaredDistance();
 
private:
  unsigned int getSolutionLocation(unsigned int& grid_index, unsigned int& solution_index) const;
 
  std::vector<double> getSolution(unsigned int grid_index, unsigned int solution_index) const;
 
  bool getGridIndex(const geometry_msgs::Pose& pose, unsigned int& grid_index) const;
 
  void setup(const KinematicsCache::Options& opt);
 
  void updateDistances(const geometry_msgs::Pose& pose);
 
  KinematicsCache::Options options_;                                    
  geometry_msgs::Point cache_origin_;                                   
  double cache_resolution_x_, cache_resolution_y_, cache_resolution_z_; 
  unsigned int cache_size_x_, cache_size_y_, cache_size_z_;             
  unsigned int max_solutions_per_grid_location_;                        
  unsigned int solution_dimension_;                                     
  unsigned int size_grid_node_; 
  unsigned int kinematics_cache_points_with_solution_; 
  unsigned int kinematics_cache_size_;                 
  std::vector<double> kinematics_cache_vector_;    
  std::vector<unsigned int> num_solutions_vector_; 
  kinematics::KinematicsBaseConstPtr kinematics_solver_; 
  moveit::core::RobotModelConstPtr kinematic_model_; 
  moveit::core::RobotStatePtr kinematic_state_;      
  const moveit::core::JointModelGroup* joint_model_group_;           
  std::shared_ptr<moveit::core::JointStateGroup> joint_state_group_; 
  //    mutable std::vector<double> solution_local_; /** Local pre-allocated storage */
 
  double min_squared_distance_, max_squared_distance_;
};
 
typedef std::shared_ptr<KinematicsCache> KinematicsCachePtr;
}  // namespace kinematics_cache