joint_model.h

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 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Ioan A. Sucan
 *  Copyright (c) 2013, Willow Garage, Inc.
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/* Author: Ioan Sucan */
 
#pragma once
 
#include <string>
#include <vector>
#include <map>
#include <iostream>
#include <moveit_msgs/msg/joint_limits.hpp>
#include <random_numbers/random_numbers.h>
#include <Eigen/Geometry>
 
#undef near
 
namespace moveit
{
namespace core
{
struct VariableBounds
{
  VariableBounds()
    : min_position_(0.0)
    , max_position_(0.0)
    , position_bounded_(false)
    , min_velocity_(0.0)
    , max_velocity_(0.0)
    , velocity_bounded_(false)
    , min_acceleration_(0.0)
    , max_acceleration_(0.0)
    , acceleration_bounded_(false)
    , min_jerk_(0.0)
    , max_jerk_(0.0)
    , jerk_bounded_(false)
  {
  }
 
  double min_position_;
  double max_position_;
  bool position_bounded_;
 
  double min_velocity_;
  double max_velocity_;
  bool velocity_bounded_;
 
  double min_acceleration_;
  double max_acceleration_;
  bool acceleration_bounded_;
 
  double min_jerk_;
  double max_jerk_;
  bool jerk_bounded_;
};
 
class LinkModel;
class JointModel;
 
typedef std::map<std::string, size_t> VariableIndexMap;
 
using VariableBoundsMap = std::map<std::string, VariableBounds>;
 
using JointModelMap = std::map<std::string, JointModel*>;
 
using JointModelMapConst = std::map<std::string, const JointModel*>;
 
class JointModel
{
public:
  enum JointType
  {
    UNKNOWN,
    REVOLUTE,
    PRISMATIC,
    PLANAR,
    FLOATING,
    FIXED
  };
 
  using Bounds = std::vector<VariableBounds>;
 
  JointModel(const std::string& name, size_t joint_index, size_t first_variable_index);
 
  virtual ~JointModel();
 
  const std::string& getName() const
  {
    return name_;
  }
 
  JointType getType() const
  {
    return type_;
  }
 
  std::string getTypeName() const;
 
  const LinkModel* getParentLinkModel() const
  {
    return parent_link_model_;
  }
 
  const LinkModel* getChildLinkModel() const
  {
    return child_link_model_;
  }
 
  void setParentLinkModel(const LinkModel* link)
  {
    parent_link_model_ = link;
  }
 
  void setChildLinkModel(const LinkModel* link)
  {
    child_link_model_ = link;
  }
 
  const std::vector<std::string>& getVariableNames() const
  {
    return variable_names_;
  }
 
  const std::vector<std::string>& getLocalVariableNames() const
  {
    return local_variable_names_;
  }
 
  bool hasVariable(const std::string& variable) const
  {
    return variable_index_map_.find(variable) != variable_index_map_.end();
  }
 
  std::size_t getVariableCount() const
  {
    return variable_names_.size();
  }
 
  size_t getFirstVariableIndex() const
  {
    return first_variable_index_;
  }
 
  size_t getJointIndex() const
  {
    return joint_index_;
  }
 
  size_t getLocalVariableIndex(const std::string& variable) const;
 
  void getVariableDefaultPositions(double* values) const
  {
    getVariableDefaultPositions(values, variable_bounds_);
  }
 
  virtual void getVariableDefaultPositions(double* values, const Bounds& other_bounds) const = 0;
 
  void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values) const
  {
    getVariableRandomPositions(rng, values, variable_bounds_);
  }
 
  virtual void getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
                                          const Bounds& other_bounds) const = 0;
 
  void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values, const double* near,
                                        const double distance) const
  {
    getVariableRandomPositionsNearBy(rng, values, variable_bounds_, near, distance);
  }
 
  virtual void getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
                                                const Bounds& other_bounds, const double* near,
                                                const double distance) const = 0;
 
  bool satisfiesPositionBounds(const double* values, double margin = 0.0) const
  {
    return satisfiesPositionBounds(values, variable_bounds_, margin);
  }
 
  virtual bool satisfiesPositionBounds(const double* values, const Bounds& other_bounds, double margin) const = 0;
 
  bool enforcePositionBounds(double* values) const
  {
    return enforcePositionBounds(values, variable_bounds_);
  }
 
  virtual bool enforcePositionBounds(double* values, const Bounds& other_bounds) const = 0;
 
  virtual bool harmonizePosition(double* values, const Bounds& other_bounds) const;
  bool harmonizePosition(double* values) const
  {
    return harmonizePosition(values, variable_bounds_);
  }
 
  bool satisfiesVelocityBounds(const double* values, double margin = 0.0) const
  {
    return satisfiesVelocityBounds(values, variable_bounds_, margin);
  }
 
  virtual bool satisfiesVelocityBounds(const double* values, const Bounds& other_bounds, double margin) const;
 
  bool enforceVelocityBounds(double* values) const
  {
    return enforceVelocityBounds(values, variable_bounds_);
  }
 
  virtual bool enforceVelocityBounds(double* values, const Bounds& other_bounds) const;
 
  bool satisfiesAccelerationBounds(const double* values, double margin = 0.0) const
  {
    return satisfiesAccelerationBounds(values, variable_bounds_, margin);
  }
 
  virtual bool satisfiesAccelerationBounds(const double* values, const Bounds& other_bounds, double margin) const;
 
  bool satisfiesJerkBounds(const double* values, double margin = 0.0) const
  {
    return satisfiesJerkBounds(values, variable_bounds_, margin);
  }
 
  virtual bool satisfiesJerkBounds(const double* values, const Bounds& other_bounds, double margin) const;
 
  const VariableBounds& getVariableBounds(const std::string& variable) const;
 
  const Bounds& getVariableBounds() const
  {
    return variable_bounds_;
  }
 
  void setVariableBounds(const std::string& variable, const VariableBounds& bounds);
 
  void setVariableBounds(const std::vector<moveit_msgs::msg::JointLimits>& jlim);
 
  const std::vector<moveit_msgs::msg::JointLimits>& getVariableBoundsMsg() const
  {
    return variable_bounds_msg_;
  }
 
  virtual double distance(const double* value1, const double* value2) const = 0;
 
  double getDistanceFactor() const
  {
    return distance_factor_;
  }
 
  void setDistanceFactor(double factor)
  {
    distance_factor_ = factor;
  }
 
  virtual unsigned int getStateSpaceDimension() const = 0;
 
  const JointModel* getMimic() const
  {
    return mimic_;
  }
 
  double getMimicOffset() const
  {
    return mimic_offset_;
  }
 
  double getMimicFactor() const
  {
    return mimic_factor_;
  }
 
  void setMimic(const JointModel* mimic, double factor, double offset);
 
  const std::vector<const JointModel*>& getMimicRequests() const
  {
    return mimic_requests_;
  }
 
  void addMimicRequest(const JointModel* joint);
  void addDescendantJointModel(const JointModel* joint);
  void addDescendantLinkModel(const LinkModel* link);
 
  const std::vector<const LinkModel*>& getDescendantLinkModels() const
  {
    return descendant_link_models_;
  }
 
  const std::vector<const JointModel*>& getDescendantJointModels() const
  {
    return descendant_joint_models_;
  }
 
  const std::vector<const JointModel*>& getNonFixedDescendantJointModels() const
  {
    return non_fixed_descendant_joint_models_;
  }
 
  bool isPassive() const
  {
    return passive_;
  }
 
  void setPassive(bool flag)
  {
    passive_ = flag;
  }
 
  virtual void interpolate(const double* from, const double* to, const double t, double* state) const = 0;
 
  virtual double getMaximumExtent(const Bounds& other_bounds) const = 0;
 
  double getMaximumExtent() const
  {
    return getMaximumExtent(variable_bounds_);
  }
 
  virtual void computeTransform(const double* joint_values, Eigen::Isometry3d& transf) const = 0;
 
  virtual void computeVariablePositions(const Eigen::Isometry3d& transform, double* joint_values) const = 0;
 
private:
  std::string name_;
 
  size_t joint_index_;
 
  size_t first_variable_index_;
 
protected:
  void computeVariableBoundsMsg();
 
  JointType type_;
 
  std::vector<std::string> local_variable_names_;
 
  std::vector<std::string> variable_names_;
 
  Bounds variable_bounds_;
 
  std::vector<moveit_msgs::msg::JointLimits> variable_bounds_msg_;
 
  VariableIndexMap variable_index_map_;
 
  const LinkModel* parent_link_model_;
 
  const LinkModel* child_link_model_;
 
  const JointModel* mimic_;
 
  double mimic_factor_;
 
  double mimic_offset_;
 
  std::vector<const JointModel*> mimic_requests_;
 
  std::vector<const LinkModel*> descendant_link_models_;
 
  std::vector<const JointModel*> descendant_joint_models_;
 
  std::vector<const JointModel*> non_fixed_descendant_joint_models_;
 
  bool passive_;
 
  double distance_factor_;
};
 
std::ostream& operator<<(std::ostream& out, const VariableBounds& b);
}  // namespace core
}  // namespace moveit