compute_ik.h

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/* Authors: Robert Haschke, Michael Goerner */
 
#pragma once
 
#include <moveit/task_constructor/container.h>
#include <moveit/task_constructor/cost_queue.h>
#include <geometry_msgs/PoseStamped.h>
#include <Eigen/Geometry>
 
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState);
MOVEIT_CLASS_FORWARD(JointModelGroup);
}  // namespace core
}  // namespace moveit
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class ComputeIK : public WrapperBase
{
public:
    ComputeIK(const std::string& name = "IK", Stage::pointer&& child = Stage::pointer());
 
    void reset() override;
    void init(const core::RobotModelConstPtr& robot_model) override;
    void onNewSolution(const SolutionBase& s) override;
 
    bool canCompute() const override;
 
    void compute() override;
 
    void setEndEffector(const std::string& eef) { setProperty("eef", eef); }
    void setGroup(const std::string& group) { setProperty("group", group); }
 
    void setIKFrame(const geometry_msgs::PoseStamped& pose) { setProperty("ik_frame", pose); }
    void setIKFrame(const Eigen::Isometry3d& pose, const std::string& link);
    template <typename T>
    void setIKFrame(const T& p, const std::string& link) {
        Eigen::Isometry3d pose;
        pose = p;
        setIKFrame(pose, link);
    }
    void setIKFrame(const std::string& link) { setIKFrame(Eigen::Isometry3d::Identity(), link); }
 
    void setTargetPose(const geometry_msgs::PoseStamped& pose) { setProperty("target_pose", pose); }
    void setTargetPose(const Eigen::Isometry3d& pose, const std::string& frame = "");
    template <typename T>
    void setTargetPose(const T& p, const std::string& frame = "") {
        Eigen::Isometry3d pose;
        pose = p;
        setTargetPose(pose, frame);
    }
 
    void setMaxIKSolutions(uint32_t n) { setProperty("max_ik_solutions", n); }
    void setIgnoreCollisions(bool flag) { setProperty("ignore_collisions", flag); }
    void setMinSolutionDistance(double distance) { setProperty("min_solution_distance", distance); }
 
protected:
    ordered<const SolutionBase*> upstream_solutions_;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit