ikfast_inv_kin.h

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#ifndef TESSERACT_KINEMATICS_IKFAST_INV_KIN_H
#define TESSERACT_KINEMATICS_IKFAST_INV_KIN_H
 
#include <tesseract_kinematics/core/inverse_kinematics.h>
#include <tesseract_kinematics/core/types.h>
 
namespace tesseract_kinematics
{
static const std::string IKFAST_INV_KIN_CHAIN_SOLVER_NAME = "IKFastInvKin";
 
class IKFastInvKin : public InverseKinematics
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<IKFastInvKin>;
  using ConstPtr = std::shared_ptr<const IKFastInvKin>;
  using UPtr = std::unique_ptr<IKFastInvKin>;
  using ConstUPtr = std::unique_ptr<const IKFastInvKin>;
 
  ~IKFastInvKin() override = default;
  IKFastInvKin(const IKFastInvKin& other);
  IKFastInvKin& operator=(const IKFastInvKin& other);
  IKFastInvKin(IKFastInvKin&&) = default;
  IKFastInvKin& operator=(IKFastInvKin&&) = default;
 
  IKFastInvKin(std::string base_link_name,
               std::string tip_link_name,
               std::vector<std::string> joint_names,
               std::vector<Eigen::Index> redundancy_capable_joints,
               std::string solver_name = IKFAST_INV_KIN_CHAIN_SOLVER_NAME,
               std::vector<std::vector<double>> free_joint_states = {});
 
  IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
                         const Eigen::Ref<const Eigen::VectorXd>& seed) const override;
 
  Eigen::Index numJoints() const override;
  std::vector<std::string> getJointNames() const override;
  std::string getBaseLinkName() const override;
  std::string getWorkingFrame() const override;
  std::vector<std::string> getTipLinkNames() const override;
  std::string getSolverName() const override;
  InverseKinematics::UPtr clone() const override;
 
  static std::vector<std::vector<double>>
  generateAllFreeJointStateCombinations(const std::vector<std::vector<double>>& free_joint_samples);
 
protected:
  std::string base_link_name_;                          
  std::string tip_link_name_;                           
  std::vector<std::string> joint_names_;                
  std::vector<Eigen::Index> redundancy_capable_joints_; 
  std::string solver_name_{ IKFAST_INV_KIN_CHAIN_SOLVER_NAME }; 
  std::vector<std::vector<double>> free_joint_states_;
};
 
}  // namespace tesseract_kinematics
 
#endif  // TESSERACT_KINEMATICS_IKFAST_INV_KIN_H