/********************************************************************* * Software License Agreement (BSD License) * * Copyright (c) 2017, Hamburg University * Copyright (c) 2017, Bielefeld University * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Bielefeld University nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ /* Authors: Michael Goerner, Robert Haschke */ #include #include #include #include #include #include namespace moveit { namespace task_constructor { namespace utils { const moveit::core::LinkModel* getRigidlyConnectedParentLinkModel(const moveit::core::RobotState& state, std::string frame) { #if MOVEIT_HAS_STATE_RIGID_PARENT_LINK return state.getRigidlyConnectedParentLinkModel(frame); #else const moveit::core::LinkModel* link{ nullptr }; if (state.hasAttachedBody(frame)) { link = state.getAttachedBody(frame)->getAttachedLink(); } else if (state.getRobotModel()->hasLinkModel(frame)) link = state.getLinkModel(frame); return state.getRobotModel()->getRigidlyConnectedParentLinkModel(link); #endif } bool getRobotTipForFrame(const Property& property, const planning_scene::PlanningScene& scene, const moveit::core::JointModelGroup* jmg, SolutionBase& solution, const moveit::core::LinkModel*& robot_link, Eigen::Isometry3d& tip_in_global_frame) { auto get_tip = [&jmg]() -> const moveit::core::LinkModel* { // determine IK frame from group std::vector tips; jmg->getEndEffectorTips(tips); if (tips.size() != 1) { return nullptr; } return tips[0]; }; if (property.value().empty()) { // property undefined robot_link = get_tip(); if (!robot_link) { solution.markAsFailure("missing ik_frame"); return false; } tip_in_global_frame = scene.getCurrentState().getGlobalLinkTransform(robot_link); } else { auto ik_pose_msg = boost::any_cast(property.value()); if (ik_pose_msg.header.frame_id.empty()) { if (!(robot_link = get_tip())) { solution.markAsFailure("frame_id of ik_frame is empty and no unique group tip was found"); return false; } tf2::fromMsg(ik_pose_msg.pose, tip_in_global_frame); tip_in_global_frame = scene.getCurrentState().getGlobalLinkTransform(robot_link) * tip_in_global_frame; } else if (scene.knowsFrameTransform(ik_pose_msg.header.frame_id)) { robot_link = getRigidlyConnectedParentLinkModel(scene.getCurrentState(), ik_pose_msg.header.frame_id); tf2::fromMsg(ik_pose_msg.pose, tip_in_global_frame); tip_in_global_frame = scene.getFrameTransform(ik_pose_msg.header.frame_id) * tip_in_global_frame; } else { std::stringstream ss; ss << "ik_frame specified in unknown frame '" << ik_pose_msg << "'"; solution.markAsFailure(ss.str()); return false; } } return true; } } // namespace utils } // namespace task_constructor } // namespace moveit