cartesianconfiguration.hpp

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#pragma once
 
#include <vector>
#include <sstream>
#include <optional>
 
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit/kinematic_constraints/utils.hpp>
 
#include "robotconfiguration.hpp"
#include "jointconfiguration.hpp"
 
namespace pilz_industrial_motion_planner_testutils
{
class CartesianConfiguration : public RobotConfiguration
{
public:
  CartesianConfiguration();
 
  CartesianConfiguration(const std::string& group_name, const std::string& link_name, const std::vector<double>& config);
 
  CartesianConfiguration(const std::string& group_name, const std::string& link_name, const std::vector<double>& config,
                         const moveit::core::RobotModelConstPtr& robot_model);
 
public:
  moveit_msgs::msg::Constraints toGoalConstraints() const override;
  moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override;
 
  void setLinkName(const std::string& link_name);
  const std::string& getLinkName() const;
 
  void setPose(const geometry_msgs::msg::Pose& pose);
  const geometry_msgs::msg::Pose& getPose() const;
  geometry_msgs::msg::Pose& getPose();
 
  void setSeed(const JointConfiguration& config);
  const JointConfiguration& getSeed() const;
  bool hasSeed() const;
 
  void setPoseTolerance(const double tol);
  const std::optional<double> getPoseTolerance() const;
 
  void setAngleTolerance(const double tol);
  const std::optional<double> getAngleTolerance() const;
 
private:
  static geometry_msgs::msg::Pose toPose(const std::vector<double>& pose);
  static geometry_msgs::msg::PoseStamped toStampedPose(const geometry_msgs::msg::Pose& pose);
 
private:
  std::string link_name_;
  geometry_msgs::msg::Pose pose_;
 
  std::optional<double> tolerance_pose_;
 
  std::optional<double> tolerance_angle_;
 
  std::optional<JointConfiguration> seed_;
};
 
std::ostream& operator<<(std::ostream& /*os*/, const CartesianConfiguration& /*obj*/);
 
inline void CartesianConfiguration::setLinkName(const std::string& link_name)
{
  link_name_ = link_name;
}
 
inline const std::string& CartesianConfiguration::getLinkName() const
{
  return link_name_;
}
 
inline void CartesianConfiguration::setPose(const geometry_msgs::msg::Pose& pose)
{
  pose_ = pose;
}
 
inline const geometry_msgs::msg::Pose& CartesianConfiguration::getPose() const
{
  return pose_;
}
 
inline geometry_msgs::msg::Pose& CartesianConfiguration::getPose()
{
  return pose_;
}
 
inline moveit_msgs::msg::Constraints CartesianConfiguration::toGoalConstraints() const
{
  if (!tolerance_pose_ || !tolerance_angle_)
  {
    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_));
  }
  else
  {
    return kinematic_constraints::constructGoalConstraints(link_name_, toStampedPose(pose_), tolerance_pose_.value(),
                                                           tolerance_angle_.value());
  }
}
 
inline void CartesianConfiguration::setSeed(const JointConfiguration& config)
{
  seed_ = config;
}
 
inline const JointConfiguration& CartesianConfiguration::getSeed() const
{
  return seed_.value();
}
 
inline bool CartesianConfiguration::hasSeed() const
{
  return seed_.has_value();
}
 
inline void CartesianConfiguration::setPoseTolerance(const double tol)
{
  tolerance_pose_ = tol;
}
 
inline const std::optional<double> CartesianConfiguration::getPoseTolerance() const
{
  return tolerance_pose_;
}
 
inline void CartesianConfiguration::setAngleTolerance(const double tol)
{
  tolerance_angle_ = tol;
}
 
inline const std::optional<double> CartesianConfiguration::getAngleTolerance() const
{
  return tolerance_angle_;
}
}  // namespace pilz_industrial_motion_planner_testutils