joint_group.h

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#ifndef TESSERACT_KINEMATICS_JOINT_GROUP_H
#define TESSERACT_KINEMATICS_JOINT_GROUP_H
 
#include <tesseract_common/types.h>
#include <tesseract_scene_graph/scene_state.h>
#include <tesseract_state_solver/kdl/kdl_state_solver.h>
 
namespace tesseract_kinematics
{
class JointGroup
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<JointGroup>;
  using ConstPtr = std::shared_ptr<const JointGroup>;
  using UPtr = std::unique_ptr<JointGroup>;
  using ConstUPtr = std::unique_ptr<const JointGroup>;
 
  virtual ~JointGroup() = default;
  JointGroup(const JointGroup& other);
  JointGroup& operator=(const JointGroup& other);
  JointGroup(JointGroup&&) = default;
  JointGroup& operator=(JointGroup&&) = default;
 
  JointGroup(std::string name,
             std::vector<std::string> joint_names,
             const tesseract_scene_graph::SceneGraph& scene_graph,
             const tesseract_scene_graph::SceneState& scene_state);
 
  tesseract_common::TransformMap calcFwdKin(const Eigen::Ref<const Eigen::VectorXd>& joint_angles) const;
 
  Eigen::MatrixXd calcJacobian(const Eigen::Ref<const Eigen::VectorXd>& joint_angles,
                               const std::string& link_name) const;
 
  Eigen::MatrixXd calcJacobian(const Eigen::Ref<const Eigen::VectorXd>& joint_angles,
                               const std::string& link_name,
                               const Eigen::Vector3d& link_point) const;
 
  Eigen::MatrixXd calcJacobian(const Eigen::Ref<const Eigen::VectorXd>& joint_angles,
                               const std::string& base_link_name,
                               const std::string& link_name) const;
 
  Eigen::MatrixXd calcJacobian(const Eigen::Ref<const Eigen::VectorXd>& joint_angles,
                               const std::string& base_link_name,
                               const std::string& link_name,
                               const Eigen::Vector3d& link_point) const;
 
  std::vector<std::string> getJointNames() const;
 
  std::vector<std::string> getLinkNames() const;
 
  std::vector<std::string> getActiveLinkNames() const;
 
  std::vector<std::string> getStaticLinkNames() const;
 
  bool isActiveLinkName(const std::string& link_name) const;
 
  bool hasLinkName(const std::string& link_name) const;
 
  tesseract_common::KinematicLimits getLimits() const;
 
  void setLimits(const tesseract_common::KinematicLimits& limits);
 
  std::vector<Eigen::Index> getRedundancyCapableJointIndices() const;
 
  Eigen::Index numJoints() const;
 
  std::string getBaseLinkName() const;
 
  std::string getName() const;
 
  bool checkJoints(const Eigen::Ref<const Eigen::VectorXd>& vec) const;
 
protected:
  std::string name_;
  tesseract_scene_graph::SceneState state_;
  tesseract_scene_graph::StateSolver::UPtr state_solver_;
  std::vector<std::string> joint_names_;
  std::vector<std::string> link_names_;
  std::vector<std::string> static_link_names_;
  tesseract_common::TransformMap static_link_transforms_;
  tesseract_common::KinematicLimits limits_;
  std::vector<Eigen::Index> redundancy_indices_;
  std::vector<Eigen::Index> jacobian_map_;
};
 
}  // namespace tesseract_kinematics
 
#endif  // TESSERACT_KINEMATICS_JOINT_GROUP_H