pr2_arm_kinematics_plugin.hpp

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/* Author: Sachin Chitta */
 
#pragma once
 
#include <kdl/config.h>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <kdl_parser/kdl_parser.hpp>
 
#include <moveit/macros/class_forward.hpp>
#include <moveit_msgs/srv/get_position_fk.hpp>
#include <moveit_msgs/srv/get_position_ik.hpp>
#include <moveit_msgs/msg/kinematic_solver_info.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
 
#include <kdl/chainfksolverpos_recursive.hpp>
 
#if __has_include(<urdf/model.hpp>)
#include <urdf/model.hpp>
#else
#include <urdf/model.h>
#endif
 
#include <moveit/kinematics_base/kinematics_base.hpp>
 
#include <memory>
 
#include "pr2_arm_ik.hpp"
 
namespace pr2_arm_kinematics
{
static const int NO_IK_SOLUTION = -1;
static const int TIMED_OUT = -2;
 
MOVEIT_CLASS_FORWARD(PR2ArmIKSolver);
 
// minimal stuff necessary
class PR2ArmIKSolver : public KDL::ChainIkSolverPos
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  PR2ArmIKSolver(const urdf::ModelInterface& robot_model, const std::string& root_frame_name,
                 const std::string& tip_frame_name, double search_discretization_angle, int free_angle);
 
  ~PR2ArmIKSolver() override{};
 
  void updateInternalDataStructures() override;
 
  PR2ArmIK pr2_arm_ik_;
 
  bool active_;
 
  int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out) override;
 
  int cartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame& p_in, KDL::JntArray& q_out, double timeout);
 
  void getSolverInfo(moveit_msgs::msg::KinematicSolverInfo& response)
  {
    pr2_arm_ik_.getSolverInfo(response);
  }
 
private:
  bool getCount(int& count, int max_count, int min_count);
 
  double search_discretization_angle_;
 
  int free_angle_;
 
  std::string root_frame_name_;
};
 
Eigen::Isometry3f kdlToEigenMatrix(const KDL::Frame& p);
double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::JntArray& array_2);
void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::msg::KinematicSolverInfo& chain_info);
 
MOVEIT_CLASS_FORWARD(PR2ArmKinematicsPlugin);
 
class PR2ArmKinematicsPlugin : public kinematics::KinematicsBase
{
public:
  PR2ArmKinematicsPlugin();
 
  bool isActive();
 
  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 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_frame,
                  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;
 
protected:
  bool active_;
  int free_angle_;
  pr2_arm_kinematics::PR2ArmIKSolverPtr pr2_arm_ik_solver_;
  std::string root_name_;
  int dimension_;
  std::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver_;
  KDL::Chain kdl_chain_;
  moveit_msgs::msg::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
 
  mutable IKCallbackFn desiredPoseCallback_;
  mutable IKCallbackFn solutionCallback_;
 
  void desiredPoseCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
                           moveit_msgs::msg::MoveItErrorCodes& error_code) const;
 
  void jointSolutionCallback(const KDL::JntArray& jnt_array, const KDL::Frame& ik_pose,
                             moveit_msgs::msg::MoveItErrorCodes& error_code) const;
};
}  // namespace pr2_arm_kinematics