srv_kinematics_plugin.h

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/* Author: Dave Coleman, Masaki Murooka
   Desc:   Connects MoveIt to any inverse kinematics solver via a ROS service call
           Supports planning groups with multiple tip frames
           \todo: better support for mimic joints
           \todo: better support for redundant joints
*/
 
#pragma once
 
// ROS2
#include <rclcpp/rclcpp.hpp>
#include <srv_kinematics_parameters.hpp>
 
// System
#include <memory>
 
// ROS msgs
#include <geometry_msgs/msg/pose.hpp>
#include <moveit_msgs/msg/kinematic_solver_info.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
 
// MoveIt
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/robot_state.h>
 
namespace srv_kinematics_plugin
{
class SrvKinematicsPlugin : public kinematics::KinematicsBase
{
public:
  SrvKinematicsPlugin();
 
  bool
  getPositionIK(const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state,
                std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
                const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      std::vector<double>& solution, moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      const std::vector<double>& consistency_limits, std::vector<double>& solution,
      moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      std::vector<double>& solution, const IKCallbackFn& solution_callback,
      moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(
      const geometry_msgs::msg::Pose& ik_pose, const std::vector<double>& ik_seed_state, double timeout,
      const std::vector<double>& consistency_limits, std::vector<double>& solution,
      const IKCallbackFn& solution_callback, moveit_msgs::msg::MoveItErrorCodes& error_code,
      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override;
 
  bool searchPositionIK(const std::vector<geometry_msgs::msg::Pose>& ik_poses, const std::vector<double>& ik_seed_state,
                        double timeout, const std::vector<double>& consistency_limits, std::vector<double>& solution,
                        const IKCallbackFn& solution_callback, moveit_msgs::msg::MoveItErrorCodes& error_code,
                        const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions(),
                        const moveit::core::RobotState* context_state = nullptr) const override;
 
  bool getPositionFK(const std::vector<std::string>& link_names, const std::vector<double>& joint_angles,
                     std::vector<geometry_msgs::msg::Pose>& poses) const override;
 
  bool initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModel& robot_model,
                  const std::string& group_name, const std::string& base_name,
                  const std::vector<std::string>& tip_frames, double search_discretization) override;
 
  const std::vector<std::string>& getJointNames() const override;
 
  const std::vector<std::string>& getLinkNames() const override;
 
  const std::vector<std::string>& getVariableNames() const;
 
protected:
  bool setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices) override;
 
private:
  bool timedOut(const rclcpp::Time& start_time, double duration) const;
 
  int getJointIndex(const std::string& name) const;
 
  bool isRedundantJoint(unsigned int index) const;
 
  bool active_; 
  moveit_msgs::msg::KinematicSolverInfo ik_group_info_; 
  unsigned int dimension_; 
  const moveit::core::JointModelGroup* joint_model_group_;
 
  moveit::core::RobotStatePtr robot_state_;
 
  int num_possible_redundant_joints_;
 
  rclcpp::Client<moveit_msgs::srv::GetPositionIK>::SharedPtr ik_service_client_;
 
  rclcpp::Node::SharedPtr node_;
 
  std::shared_ptr<srv_kinematics::ParamListener> param_listener_;
  srv_kinematics::Params params_;
};
}  // namespace srv_kinematics_plugin