bool KDLArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
const double &timeout,
std::vector<double> &solution,
const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &desired_pose_callback,
const boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> &solution_callback,
int &error_code)
{
if(!active_)
{
ROS_ERROR("kinematics not active");
error_code = kinematics::INACTIVE;
return false;
}
KDL::Frame pose_desired;
tf::PoseMsgToKDL(ik_pose, pose_desired);
//Do the IK
KDL::JntArray jnt_pos_in;
KDL::JntArray jnt_pos_out;
jnt_pos_in.resize(dimension_);
for(unsigned int i=0; i < dimension_; i++)
jnt_pos_in(i) = ik_seed_state[i];
if(!desired_pose_callback.empty())
desired_pose_callback(ik_pose,ik_seed_state,error_code);
if(error_code < 0)
{
ROS_ERROR("Could not find inverse kinematics for desired end-effector pose since the pose may be in collision");
return false;
}
for(int i=0; i < max_search_iterations_; i++)
{
jnt_pos_in = getRandomConfiguration();
int ik_valid = ik_solver_pos_->CartToJnt(jnt_pos_in,pose_desired,jnt_pos_out);
if(ik_valid < 0)
continue;
std::vector<double> solution_local;
solution_local.resize(dimension_);
for(unsigned int j=0; j < dimension_; j++)
solution_local[j] = jnt_pos_out(j);
solution_callback(ik_pose,solution_local,error_code);
if(error_code == kinematics::SUCCESS)
{
solution = solution_local;
return true;
}
}
ROS_DEBUG("An IK that satisifes the constraints and is collision free could not be found");
if (error_code == 0)
error_code = kinematics::NO_IK_SOLUTION;
return false;
}
bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
double timeout,
std::vector<double> &solution,
const IKCallbackFn &solution_callback,
moveit_msgs::MoveItErrorCodes &error_code,
const std::vector<double> &consistency_limits,
const kinematics::KinematicsQueryOptions &options) const
{
ros::WallTime n1 = ros::WallTime::now();
if(!active_)
{
ROS_ERROR_NAMED("kdl","kinematics not active");
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
if(ik_seed_state.size() != dimension_)
{
ROS_ERROR_STREAM_NAMED("kdl","Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size());
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
if(!consistency_limits.empty() && consistency_limits.size() != dimension_)
{
ROS_ERROR_STREAM_NAMED("kdl","Consistency limits be empty or must have size " << dimension_ << " instead of size " << consistency_limits.size());
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
KDL::JntArray jnt_seed_state(dimension_);
KDL::JntArray jnt_pos_in(dimension_);
KDL::JntArray jnt_pos_out(dimension_);
KDL::ChainFkSolverPos_recursive fk_solver(kdl_chain_);
KDL::ChainIkSolverVel_pinv_mimic ik_solver_vel(kdl_chain_, joint_model_group_->getMimicJointModels().size(), redundant_joint_indices_.size(), position_ik_);
KDL::ChainIkSolverPos_NR_JL_Mimic ik_solver_pos(kdl_chain_, joint_min_, joint_max_, fk_solver, ik_solver_vel, max_solver_iterations_, epsilon_, position_ik_);
ik_solver_vel.setMimicJoints(mimic_joints_);
ik_solver_pos.setMimicJoints(mimic_joints_);
if ((redundant_joint_indices_.size() > 0) && !ik_solver_vel.setRedundantJointsMapIndex(redundant_joints_map_index_))
{
ROS_ERROR_NAMED("kdl","Could not set redundant joints");
return false;
}
if(options.lock_redundant_joints)
{
ik_solver_vel.lockRedundantJoints();
}
solution.resize(dimension_);
KDL::Frame pose_desired;
tf::poseMsgToKDL(ik_pose, pose_desired);
ROS_DEBUG_STREAM_NAMED("kdl","searchPositionIK2: Position request pose is " <<
ik_pose.position.x << " " <<
ik_pose.position.y << " " <<
ik_pose.position.z << " " <<
ik_pose.orientation.x << " " <<
ik_pose.orientation.y << " " <<
ik_pose.orientation.z << " " <<
ik_pose.orientation.w);
//Do the IK
for(unsigned int i=0; i < dimension_; i++)
jnt_seed_state(i) = ik_seed_state[i];
jnt_pos_in = jnt_seed_state;
unsigned int counter(0);
while(1)
{
// ROS_DEBUG_NAMED("kdl","Iteration: %d, time: %f, Timeout: %f",counter,(ros::WallTime::now()-n1).toSec(),timeout);
counter++;
if(timedOut(n1,timeout))
{
ROS_DEBUG_NAMED("kdl","IK timed out");
error_code.val = error_code.TIMED_OUT;
ik_solver_vel.unlockRedundantJoints();
return false;
}
int ik_valid = ik_solver_pos.CartToJnt(jnt_pos_in, pose_desired, jnt_pos_out);
ROS_DEBUG_NAMED("kdl","IK valid: %d", ik_valid);
if(!consistency_limits.empty())
{
getRandomConfiguration(jnt_seed_state, consistency_limits, jnt_pos_in, options.lock_redundant_joints);
if( (ik_valid < 0 && !options.return_approximate_solution) || !checkConsistency(jnt_seed_state, consistency_limits, jnt_pos_out))
{
ROS_DEBUG_NAMED("kdl","Could not find IK solution: does not match consistency limits");
continue;
}
}
else
{
getRandomConfiguration(jnt_pos_in, options.lock_redundant_joints);
ROS_DEBUG_NAMED("kdl","New random configuration");
for(unsigned int j=0; j < dimension_; j++)
ROS_DEBUG_NAMED("kdl","%d %f", j, jnt_pos_in(j));
if(ik_valid < 0 && !options.return_approximate_solution)
{
ROS_DEBUG_NAMED("kdl","Could not find IK solution");
continue;
}
}
ROS_DEBUG_NAMED("kdl","Found IK solution");
for(unsigned int j=0; j < dimension_; j++)
solution[j] = jnt_pos_out(j);
if(!solution_callback.empty())
solution_callback(ik_pose,solution,error_code);
else
error_code.val = error_code.SUCCESS;
if(error_code.val == error_code.SUCCESS)
{
ROS_DEBUG_STREAM_NAMED("kdl","Solved after " << counter << " iterations");
ik_solver_vel.unlockRedundantJoints();
return true;
}
}
ROS_DEBUG_NAMED("kdl","An IK that satisifes the constraints and is collision free could not be found");
error_code.val = error_code.NO_IK_SOLUTION;
ik_solver_vel.unlockRedundantJoints();
return false;
}
bool KDLKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
double timeout,
std::vector<double> &solution,
const IKCallbackFn &solution_callback,
moveit_msgs::MoveItErrorCodes &error_code,
const std::vector<double> &consistency_limits) const
{
ros::WallTime n1 = ros::WallTime::now();
if(!active_)
{
ROS_ERROR("kinematics not active");
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
if(ik_seed_state.size() != dimension_)
{
ROS_ERROR_STREAM("Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size());
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
if(!consistency_limits.empty() && consistency_limits.size() != dimension_)
{
ROS_ERROR_STREAM("Consistency limits be empty or must have size " << dimension_ << " instead of size " << consistency_limits.size());
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
solution.resize(dimension_);
KDL::Frame pose_desired;
tf::poseMsgToKDL(ik_pose, pose_desired);
ROS_DEBUG_STREAM("searchPositionIK2: Position request pose is " <<
ik_pose.position.x << " " <<
ik_pose.position.y << " " <<
ik_pose.position.z << " " <<
ik_pose.orientation.x << " " <<
ik_pose.orientation.y << " " <<
ik_pose.orientation.z << " " <<
ik_pose.orientation.w);
//Do the IK
for(unsigned int i=0; i < dimension_; i++)
jnt_seed_state_(i) = ik_seed_state[i];
jnt_pos_in_ = jnt_seed_state_;
unsigned int counter(0);
while(1)
{
// ROS_DEBUG("Iteration: %d, time: %f, Timeout: %f",counter,(ros::WallTime::now()-n1).toSec(),timeout);
counter++;
if(timedOut(n1,timeout))
{
ROS_DEBUG("IK timed out");
error_code.val = error_code.TIMED_OUT;
return false;
}
int ik_valid = ik_solver_pos_->CartToJnt(jnt_pos_in_,pose_desired,jnt_pos_out_);
if(!consistency_limits.empty())
{
getRandomConfiguration(jnt_seed_state_, consistency_limits, jnt_pos_in_);
if(ik_valid < 0 || !checkConsistency(jnt_seed_state_, consistency_limits, jnt_pos_out_))
{
ROS_DEBUG("Could not find IK solution");
continue;
}
}
else
{
getRandomConfiguration(jnt_pos_in_);
if(ik_valid < 0)
{
ROS_DEBUG("Could not find IK solution");
continue;
}
}
ROS_DEBUG("Found IK solution");
for(unsigned int j=0; j < dimension_; j++)
solution[j] = jnt_pos_out_(j);
if(!solution_callback.empty())
solution_callback(ik_pose,solution,error_code);
else
error_code.val = error_code.SUCCESS;
if(error_code.val == error_code.SUCCESS)
{
ROS_DEBUG_STREAM("Solved after " << counter << " iterations");
return true;
}
}
ROS_DEBUG("An IK that satisifes the constraints and is collision free could not be found");
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
