opw_inv_kin.h

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#ifndef TESSERACT_KINEMATICS_OPW_INV_KIN_H
#define TESSERACT_KINEMATICS_OPW_INV_KIN_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <opw_kinematics/opw_parameters.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_kinematics/core/inverse_kinematics.h>
#include <tesseract_kinematics/core/types.h>
 
namespace tesseract_kinematics
{
static const std::string OPW_INV_KIN_CHAIN_SOLVER_NAME = "OPWInvKin";
 
class OPWInvKin : public InverseKinematics
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<OPWInvKin>;
  using ConstPtr = std::shared_ptr<const OPWInvKin>;
  using UPtr = std::unique_ptr<OPWInvKin>;
  using ConstUPtr = std::unique_ptr<const OPWInvKin>;
 
  ~OPWInvKin() override = default;
  OPWInvKin(const OPWInvKin& other);
  OPWInvKin& operator=(const OPWInvKin& other);
  OPWInvKin(OPWInvKin&&) = default;
  OPWInvKin& operator=(OPWInvKin&&) = default;
 
  OPWInvKin(opw_kinematics::Parameters<double> params,
            std::string base_link_name,
            std::string tip_link_name,
            std::vector<std::string> joint_names,
            std::string solver_name = OPW_INV_KIN_CHAIN_SOLVER_NAME);
 
  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:
  opw_kinematics::Parameters<double> params_; 
  std::string base_link_name_;                
  std::string tip_link_name_;                 
  std::vector<std::string> joint_names_;      
  std::string solver_name_{ OPW_INV_KIN_CHAIN_SOLVER_NAME }; 
};
 
}  // namespace tesseract_kinematics
#endif  // TESSERACT_KINEMATICS_OPW_INV_KIN_H