/* Method to calculate the IK for the required end pose
* @returns true if successful
*/
bool arm_kinematics::Kinematics::getPositionIK(
const geometry_msgs::PoseStamped &pose_stamp,
const sensor_msgs::JointState &seed, sensor_msgs::JointState *result) {
geometry_msgs::PoseStamped pose_msg_in = pose_stamp;
tf::Stamped<tf::Pose> transform;
tf::Stamped<tf::Pose> transform_root;
tf::poseStampedMsgToTF(pose_msg_in, transform);
//Do the IK
KDL::JntArray jnt_pos_in;
KDL::JntArray jnt_pos_out;
jnt_pos_in.resize(num_joints);
// Copying the positions of the joints relative to its index in the KDL chain
for (unsigned int i = 0; i < num_joints; i++) {
int tmp_index = getJointIndex(seed.name[i]);
if (tmp_index >= 0) {
jnt_pos_in(tmp_index) = seed.position[i];
} else {
ROS_ERROR("i: %d, No joint index for %s", i, seed.name[i].c_str());
}
}
//Convert F to our root_frame
try {
tf_listener.transformPose(root_name, transform, transform_root);
} catch (...) {
ROS_ERROR("Could not transform IK pose to frame: %s", root_name.c_str());
return false;
}
KDL::Frame F_dest;
tf::transformTFToKDL(transform_root, F_dest);
int ik_valid = ik_solver_pos->CartToJnt(jnt_pos_in, F_dest, jnt_pos_out);
if (ik_valid >= 0) {
result->name = info.joint_names;
result->position.resize(num_joints);
for (unsigned int i = 0; i < num_joints; i++) {
result->position[i] = jnt_pos_out(i);
ROS_DEBUG("IK Solution: %s %d: %f", result->name[i].c_str(), i,
jnt_pos_out(i));
}
return true;
} else {
ROS_DEBUG("An IK solution could not be found");
return false;
}
}
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 PR2ArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
double timeout,
std::vector<double> &solution,
moveit_msgs::MoveItErrorCodes &error_code) const
{
if(!active_)
{
ROS_ERROR("kinematics not active");
error_code.val = error_code.PLANNING_FAILED;
return false;
}
KDL::Frame pose_desired;
Eigen::Affine3d tp;
tf::poseMsgToEigen(ik_pose, tp);
tf::transformEigenToKDL(tp, pose_desired);
//Do the IK
KDL::JntArray jnt_pos_in;
KDL::JntArray jnt_pos_out;
jnt_pos_in.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
jnt_pos_in(i) = ik_seed_state[i];
}
int ik_valid = pr2_arm_ik_solver_->CartToJntSearch(jnt_pos_in,
pose_desired,
jnt_pos_out,
timeout);
if(ik_valid == pr2_arm_kinematics::NO_IK_SOLUTION)
{
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
if(ik_valid >= 0)
{
solution.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
solution[i] = jnt_pos_out(i);
}
error_code.val = error_code.SUCCESS;
return true;
}
else
{
ROS_DEBUG("An IK solution could not be found");
error_code.val = error_code.NO_IK_SOLUTION;
return false;
}
}
bool GaffaArmKinematicsPlugin::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)
{
if(!active_)
{
ROS_ERROR("kinematics not active");
return false;
}
KDL::Frame pose_desired;
tf::PoseMsgToKDL(ik_pose, pose_desired);
desiredPoseCallback_ = desired_pose_callback;
solutionCallback_ = solution_callback;
//Do the IK
KDL::JntArray jnt_pos_in;
KDL::JntArray jnt_pos_out;
jnt_pos_in.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
jnt_pos_in(i) = ik_seed_state[i];
}
motion_planning_msgs::ArmNavigationErrorCodes error_code;
int ik_valid = gaffa_arm_ik_solver_->CartToJntSearch(jnt_pos_in,
pose_desired,
jnt_pos_out,
timeout,
error_code,
boost::bind(&GaffaArmKinematicsPlugin::desiredPoseCallback, this, _1, _2, _3),
boost::bind(&GaffaArmKinematicsPlugin::jointSolutionCallback, this, _1, _2, _3));
if(ik_valid == gaffa_arm_kinematics::NO_IK_SOLUTION)
return false;
if(ik_valid >= 0)
{
solution.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
solution[i] = jnt_pos_out(i);
}
return true;
}
else
{
ROS_DEBUG("An IK solution could not be found");
return false;
}
}
//this assumes that everything has been checked and is in the correct frame
bool PR2ArmKinematics::getPositionIKHelper(kinematics_msgs::GetPositionIK::Request &request,
kinematics_msgs::GetPositionIK::Response &response)
{
KDL::Frame pose_desired;
tf::poseMsgToKDL(request.ik_request.pose_stamped.pose, pose_desired);
//Do the IK
KDL::JntArray jnt_pos_in;
KDL::JntArray jnt_pos_out;
jnt_pos_in.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
int tmp_index = getJointIndex(request.ik_request.ik_seed_state.joint_state.name[i],ik_solver_info_);
if(tmp_index >=0)
{
jnt_pos_in(tmp_index) = request.ik_request.ik_seed_state.joint_state.position[i];
}
else
{
ROS_ERROR("i: %d, No joint index for %s",i,request.ik_request.ik_seed_state.joint_state.name[i].c_str());
}
}
int ik_valid = pr2_arm_ik_solver_->CartToJntSearch(jnt_pos_in,
pose_desired,
jnt_pos_out,
request.timeout.toSec());
if(ik_valid == pr2_arm_kinematics::TIMED_OUT)
response.error_code.val = response.error_code.TIMED_OUT;
if(ik_valid == pr2_arm_kinematics::NO_IK_SOLUTION)
response.error_code.val = response.error_code.NO_IK_SOLUTION;
response.solution.joint_state.header = request.ik_request.pose_stamped.header;
if(ik_valid >= 0)
{
response.solution.joint_state.name = ik_solver_info_.joint_names;
response.solution.joint_state.position.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
response.solution.joint_state.position[i] = jnt_pos_out(i);
ROS_DEBUG("IK Solution: %s %d: %f",response.solution.joint_state.name[i].c_str(),i,jnt_pos_out(i));
}
response.error_code.val = response.error_code.SUCCESS;
return true;
}
else
{
ROS_DEBUG("An IK solution could not be found");
return true;
}
}
bool LegKinematics::getLegIKSolver ( spider_msgs::GetLegIKSolver::Request &request,
spider_msgs::GetLegIKSolver::Response &response){
spider_msgs::LegPositionState leg_dest_pos;
response.target_joints.clear();
for (int i = 0; i < request.leg_number.size(); i++){
leg_dest_pos = request.target_position[i];
KDL::JntArray jnt_pos_in(num_joints);
KDL::JntArray jnt_pos_out(num_joints);
//Get initial joints and frame
for (unsigned int j=0; j < num_joints; j++) {
jnt_pos_in(j) = request.current_joints[i].joint[j];
}
KDL::Frame F_dest (KDL::Vector(leg_dest_pos.x, leg_dest_pos.y, leg_dest_pos.z));
//IK solver
int ik_valid = ik_solver_pos[request.leg_number[i]]->CartToJnt(jnt_pos_in, F_dest, jnt_pos_out);
//ROS_ERROR("---: LEG_IK_SOLVER: %i", ik_valid);
if (ik_valid >= 0) {
spider_msgs::LegJointsState jnt_buf;
for (unsigned int j=0; j<num_joints; j++) {
jnt_buf.joint[j] = jnt_pos_out(j);
}
response.target_joints.push_back(jnt_buf);
response.error_codes = response.IK_FOUND;
//ROS_INFO("IK Solution for leg%s found", suffixes[request.leg_number[i]].c_str());
}
else {
response.error_codes = response.IK_NOT_FOUND;
//ROS_ERROR("An IK solution could not be found");
return true;
}
}
return true;
}
bool GaffaArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
const double &timeout,
std::vector<double> &solution)
{
if(!active_)
{
ROS_ERROR("kinematics not active");
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(int i=0; i < dimension_; i++)
{
jnt_pos_in(i) = ik_seed_state[i];
}
int ik_valid = gaffa_arm_ik_solver_->CartToJntSearch(jnt_pos_in,
pose_desired,
jnt_pos_out,
timeout);
if(ik_valid == gaffa_arm_kinematics::NO_IK_SOLUTION)
return false;
if(ik_valid >= 0)
{
solution.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
solution[i] = jnt_pos_out(i);
}
return true;
}
else
{
ROS_DEBUG("An IK solution could not be found");
return false;
}
}
bool KDLArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
const double &timeout,
std::vector<double> &solution,
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];
}
int ik_valid = ik_solver_pos_->CartToJnt(jnt_pos_in,pose_desired,jnt_pos_out);
if(ik_valid >= 0)
{
solution.resize(dimension_);
for(unsigned int i=0; i < dimension_; i++)
solution[i] = jnt_pos_out(i);
error_code = kinematics::SUCCESS;
return true;
}
else
{
ROS_DEBUG("An IK solution could not be found");
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 PR2ArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
double timeout,
const std::vector<double> &consistency_limits,
std::vector<double> &solution,
const IKCallbackFn &solution_callback,
moveit_msgs::MoveItErrorCodes &error_code) const
{
if(!active_)
{
ROS_ERROR("kinematics not active");
error_code.val = error_code.FAILURE;
return false;
}
if(!consistency_limits.empty() && consistency_limits.size() != dimension_)
{
ROS_ERROR("Consistency limits should be of size: %d",dimension_);
error_code.val = error_code.FAILURE;
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(int i=0; i < dimension_; i++)
{
jnt_pos_in(i) = ik_seed_state[i];
}
int ik_valid;
if(consistency_limits.empty())
{
ik_valid = pr2_arm_ik_solver_->CartToJntSearch(jnt_pos_in,
pose_desired,
jnt_pos_out,
timeout,
error_code,
solution_callback ?
boost::bind(solution_callback, _1, _2, _3):
IKCallbackFn());
}
else
{
ik_valid = pr2_arm_ik_solver_->CartToJntSearch(jnt_pos_in,
pose_desired,
jnt_pos_out,
timeout,
consistency_limits[free_angle_],
error_code,
solution_callback ?
boost::bind(solution_callback, _1, _2, _3):
IKCallbackFn());
}
if(ik_valid == pr2_arm_kinematics::NO_IK_SOLUTION)
return false;
if(ik_valid >= 0)
{
solution.resize(dimension_);
for(int i=0; i < dimension_; i++)
{
solution[i] = jnt_pos_out(i);
}
return true;
}
else
{
ROS_DEBUG("An IK solution could not be found");
return false;
}
}