rep_inv_kin.h

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#ifndef TESSERACT_KINEMATICS_REP_INVERSE_KINEMATICS_H
#define TESSERACT_KINEMATICS_REP_INVERSE_KINEMATICS_H
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <unordered_map>
#include <console_bridge/console.h>
 
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/scene_state.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_kinematics/core/inverse_kinematics.h>
#include <tesseract_kinematics/core/forward_kinematics.h>
#include <tesseract_kinematics/core/types.h>
 
namespace tesseract_kinematics
{
static const std::string DEFAULT_REP_INV_KIN_SOLVER_NAME = "REPInvKin";
 
class REPInvKin : public InverseKinematics
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<REPInvKin>;
  using ConstPtr = std::shared_ptr<const REPInvKin>;
  using UPtr = std::unique_ptr<REPInvKin>;
  using ConstUPtr = std::unique_ptr<const REPInvKin>;
 
  ~REPInvKin() override = default;
  REPInvKin(const REPInvKin& other);
  REPInvKin& operator=(const REPInvKin& other);
  REPInvKin(REPInvKin&&) = default;
  REPInvKin& operator=(REPInvKin&&) = default;
 
  REPInvKin(const tesseract_scene_graph::SceneGraph& scene_graph,
            const tesseract_scene_graph::SceneState& scene_state,
            InverseKinematics::UPtr manipulator,
            double manipulator_reach,
            ForwardKinematics::UPtr positioner,
            const Eigen::VectorXd& positioner_sample_resolution,
            std::string solver_name = DEFAULT_REP_INV_KIN_SOLVER_NAME);
 
  REPInvKin(const tesseract_scene_graph::SceneGraph& scene_graph,
            const tesseract_scene_graph::SceneState& scene_state,
            InverseKinematics::UPtr manipulator,
            double manipulator_reach,
            ForwardKinematics::UPtr positioner,
            const Eigen::MatrixX2d& positioner_sample_range,
            const Eigen::VectorXd& positioner_sample_resolution,
            std::string solver_name = DEFAULT_REP_INV_KIN_SOLVER_NAME);
 
  IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
                         const Eigen::Ref<const Eigen::VectorXd>& seed) const override final;
 
  std::vector<std::string> getJointNames() const override final;
  Eigen::Index numJoints() 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;
 
private:
  std::vector<std::string> joint_names_;
  InverseKinematics::UPtr manip_inv_kin_;
  ForwardKinematics::UPtr positioner_fwd_kin_;
  std::string working_frame_;
  std::string manip_tip_link_;
  double manip_reach_{ 0 };
  Eigen::Isometry3d manip_base_to_positioner_base_;
  Eigen::Index dof_{ -1 };
  std::vector<Eigen::VectorXd> dof_range_;
  std::string solver_name_{ DEFAULT_REP_INV_KIN_SOLVER_NAME }; 
  void init(const tesseract_scene_graph::SceneGraph& scene_graph,
            const tesseract_scene_graph::SceneState& scene_state,
            InverseKinematics::UPtr manipulator,
            double manipulator_reach,
            ForwardKinematics::UPtr positioner,
            const Eigen::MatrixX2d& poitioner_sample_range,
            const Eigen::VectorXd& positioner_sample_resolution,
            std::string solver_name = DEFAULT_REP_INV_KIN_SOLVER_NAME);
 
  IKSolutions calcInvKinHelper(const tesseract_common::TransformMap& tip_link_poses,
                               const Eigen::Ref<const Eigen::VectorXd>& seed) const;
 
  void nested_ik(IKSolutions& solutions,
                 int loop_level,
                 const std::vector<Eigen::VectorXd>& dof_range,
                 const tesseract_common::TransformMap& tip_link_poses,
                 Eigen::VectorXd& positioner_pose,
                 const Eigen::Ref<const Eigen::VectorXd>& seed) const;
 
  void ikAt(IKSolutions& solutions,
            const tesseract_common::TransformMap& tip_link_poses,
            Eigen::VectorXd& positioner_pose,
            const Eigen::Ref<const Eigen::VectorXd>& seed) const;
};
}  // namespace tesseract_kinematics
#endif  // TESSERACT_KINEMATICS_REP_INVERSE_KINEMATICS_H