ur_inv_kin.h

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/*********************************************************************
 *
 * Provides forward and inverse kinematics for Univeral robot designs
 * Author: Kelsey Hawkins (kphawkins@gatech.edu)
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Georgia Institute of Technology
 *  All rights reserved.
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 *     with the distribution.
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#ifndef TESSERACT_KINEMATICS_UR_INV_KIN_H
#define TESSERACT_KINEMATICS_UR_INV_KIN_H
 
#include <tesseract_kinematics/core/inverse_kinematics.h>
#include <tesseract_kinematics/core/types.h>
 
namespace tesseract_kinematics
{
static const std::string UR_INV_KIN_CHAIN_SOLVER_NAME = "URInvKin";
 
class URInvKin : public tesseract_kinematics::InverseKinematics
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<URInvKin>;
  using ConstPtr = std::shared_ptr<const URInvKin>;
  using UPtr = std::unique_ptr<URInvKin>;
  using ConstUPtr = std::unique_ptr<const URInvKin>;
 
  ~URInvKin() override = default;
  URInvKin(const URInvKin& other);
  URInvKin& operator=(const URInvKin& other);
  URInvKin(URInvKin&&) = default;
  URInvKin& operator=(URInvKin&&) = default;
 
  URInvKin(URParameters params,
           std::string base_link_name,
           std::string tip_link_name,
           std::vector<std::string> joint_names,
           std::string solver_name = UR_INV_KIN_CHAIN_SOLVER_NAME);
 
  tesseract_kinematics::IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
                                               const Eigen::Ref<const Eigen::VectorXd>& seed) const override final;
 
  Eigen::Index numJoints() const override final;
  std::vector<std::string> getJointNames() const override final;
  std::string getBaseLinkName() const override final;
  std::string getWorkingFrame() const override final;
  std::vector<std::string> getTipLinkNames() const override final;
  std::string getSolverName() const override final;
  InverseKinematics::UPtr clone() const override final;
 
protected:
  URParameters params_;                  
  std::string base_link_name_;           
  std::string tip_link_name_;            
  std::vector<std::string> joint_names_; 
  std::string solver_name_{ UR_INV_KIN_CHAIN_SOLVER_NAME }; 
};
}  // namespace tesseract_kinematics
 
#endif  // TESSERACT_KINEMATICS_UR_INV_KIN_H