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*
* Copyright (c) 2014, Georgia Tech
* All rights reserved.
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* 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.
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* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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/* Author: Kelsey Hawkins */
/* Based on orignal source from Willow Garage. License copied below */
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage, Inc.
* 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 Willow Garage 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.
*********************************************************************/
/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */
#include <class_loader/class_loader.h>
//#include <tf/transform_datatypes.h>
#include <tf_conversions/tf_kdl.h>
#include <kdl_parser/kdl_parser.hpp>
// URDF, SRDF
#include <urdf_model/model.h>
#include <srdfdom/model.h>
#include <moveit/rdf_loader/rdf_loader.h>
// UR kin
#include <ur_kinematics/ur_moveit_plugin.h>
#include <ur_kinematics/ur_kin.h>
//register KDLKinematics as a KinematicsBase implementation
CLASS_LOADER_REGISTER_CLASS(ur_kinematics::URKinematicsPlugin, kinematics::KinematicsBase)
namespace ur_kinematics
{
URKinematicsPlugin::URKinematicsPlugin():active_(false) {}
void URKinematicsPlugin::getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const
{
std::vector<double> jnt_array_vector(dimension_, 0.0);
state_->setToRandomPositions(joint_model_group_);
state_->copyJointGroupPositions(joint_model_group_, &jnt_array_vector[0]);
for (std::size_t i = 0; i < dimension_; ++i)
{
if (lock_redundancy)
if (isRedundantJoint(i))
continue;
jnt_array(i) = jnt_array_vector[i];
}
}
bool URKinematicsPlugin::isRedundantJoint(unsigned int index) const
{
for (std::size_t j=0; j < redundant_joint_indices_.size(); ++j)
if (redundant_joint_indices_[j] == index)
return true;
return false;
}
void URKinematicsPlugin::getRandomConfiguration(const KDL::JntArray &seed_state,
const std::vector<double> &consistency_limits,
KDL::JntArray &jnt_array,
bool lock_redundancy) const
{
std::vector<double> values(dimension_, 0.0);
std::vector<double> near(dimension_, 0.0);
for (std::size_t i = 0 ; i < dimension_; ++i)
near[i] = seed_state(i);
// Need to resize the consistency limits to remove mimic joints
std::vector<double> consistency_limits_mimic;
for(std::size_t i = 0; i < dimension_; ++i)
{
if(!mimic_joints_[i].active)
continue;
consistency_limits_mimic.push_back(consistency_limits[i]);
}
joint_model_group_->getVariableRandomPositionsNearBy(state_->getRandomNumberGenerator(), values, near, consistency_limits_mimic);
for (std::size_t i = 0; i < dimension_; ++i)
{
bool skip = false;
if (lock_redundancy)
for (std::size_t j = 0; j < redundant_joint_indices_.size(); ++j)
if (redundant_joint_indices_[j] == i)
{
skip = true;
break;
}
if (skip)
continue;
jnt_array(i) = values[i];
}
}
bool URKinematicsPlugin::checkConsistency(const KDL::JntArray& seed_state,
const std::vector<double> &consistency_limits,
const KDL::JntArray& solution) const
{
for (std::size_t i = 0; i < dimension_; ++i)
if (fabs(seed_state(i) - solution(i)) > consistency_limits[i])
return false;
return true;
}
bool URKinematicsPlugin::initialize(const std::string &robot_description,
const std::string& group_name,
const std::string& base_frame,
const std::string& tip_frame,
double search_discretization)
{
setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
ros::NodeHandle private_handle("~");
rdf_loader::RDFLoader rdf_loader(robot_description_);
const srdf::ModelSharedPtr &srdf = rdf_loader.getSRDF();
const urdf::ModelInterfaceSharedPtr &urdf_model = rdf_loader.getURDF();
if (!urdf_model || !srdf)
{
ROS_ERROR_NAMED("kdl","URDF and SRDF must be loaded for KDL kinematics solver to work.");
return false;
}
robot_model_.reset(new robot_model::RobotModel(urdf_model, srdf));
robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
if (!joint_model_group)
return false;
if(!joint_model_group->isChain())
{
ROS_ERROR_NAMED("kdl","Group '%s' is not a chain", group_name.c_str());
return false;
}
if(!joint_model_group->isSingleDOFJoints())
{
ROS_ERROR_NAMED("kdl","Group '%s' includes joints that have more than 1 DOF", group_name.c_str());
return false;
}
KDL::Tree kdl_tree;
if (!kdl_parser::treeFromUrdfModel(*urdf_model, kdl_tree))
{
ROS_ERROR_NAMED("kdl","Could not initialize tree object");
return false;
}
if (!kdl_tree.getChain(base_frame_, getTipFrame(), kdl_chain_))
{
ROS_ERROR_NAMED("kdl","Could not initialize chain object");
return false;
}
dimension_ = joint_model_group->getActiveJointModels().size() + joint_model_group->getMimicJointModels().size();
for (std::size_t i=0; i < joint_model_group->getJointModels().size(); ++i)
{
if(joint_model_group->getJointModels()[i]->getType() == moveit::core::JointModel::REVOLUTE || joint_model_group->getJointModels()[i]->getType() == moveit::core::JointModel::PRISMATIC)
{
ik_chain_info_.joint_names.push_back(joint_model_group->getJointModelNames()[i]);
const std::vector<moveit_msgs::JointLimits> &jvec = joint_model_group->getJointModels()[i]->getVariableBoundsMsg();
ik_chain_info_.limits.insert(ik_chain_info_.limits.end(), jvec.begin(), jvec.end());
}
}
fk_chain_info_.joint_names = ik_chain_info_.joint_names;
fk_chain_info_.limits = ik_chain_info_.limits;
if(!joint_model_group->hasLinkModel(getTipFrame()))
{
ROS_ERROR_NAMED("kdl","Could not find tip name in joint group '%s'", group_name.c_str());
return false;
}
ik_chain_info_.link_names.push_back(getTipFrame());
fk_chain_info_.link_names = joint_model_group->getLinkModelNames();
joint_min_.resize(ik_chain_info_.limits.size());
joint_max_.resize(ik_chain_info_.limits.size());
for(unsigned int i=0; i < ik_chain_info_.limits.size(); i++)
{
joint_min_(i) = ik_chain_info_.limits[i].min_position;
joint_max_(i) = ik_chain_info_.limits[i].max_position;
}
// Get Solver Parameters
int max_solver_iterations;
double epsilon;
bool position_ik;
private_handle.param("max_solver_iterations", max_solver_iterations, 500);
private_handle.param("epsilon", epsilon, 1e-5);
private_handle.param(group_name+"/position_only_ik", position_ik, false);
ROS_DEBUG_NAMED("kdl","Looking in private handle: %s for param name: %s",
private_handle.getNamespace().c_str(),
(group_name+"/position_only_ik").c_str());
if(position_ik)
ROS_INFO_NAMED("kdl","Using position only ik");
num_possible_redundant_joints_ = kdl_chain_.getNrOfJoints() - joint_model_group->getMimicJointModels().size() - (position_ik? 3:6);
// Check for mimic joints
bool has_mimic_joints = joint_model_group->getMimicJointModels().size() > 0;
std::vector<unsigned int> redundant_joints_map_index;
std::vector<kdl_kinematics_plugin::JointMimic> mimic_joints;
unsigned int joint_counter = 0;
for (std::size_t i = 0; i < kdl_chain_.getNrOfSegments(); ++i)
{
const robot_model::JointModel *jm = robot_model_->getJointModel(kdl_chain_.segments[i].getJoint().getName());
//first check whether it belongs to the set of active joints in the group
if (jm->getMimic() == NULL && jm->getVariableCount() > 0)
{
kdl_kinematics_plugin::JointMimic mimic_joint;
mimic_joint.reset(joint_counter);
mimic_joint.joint_name = kdl_chain_.segments[i].getJoint().getName();
mimic_joint.active = true;
mimic_joints.push_back(mimic_joint);
++joint_counter;
continue;
}
if (joint_model_group->hasJointModel(jm->getName()))
{
if (jm->getMimic() && joint_model_group->hasJointModel(jm->getMimic()->getName()))
{
kdl_kinematics_plugin::JointMimic mimic_joint;
mimic_joint.reset(joint_counter);
mimic_joint.joint_name = kdl_chain_.segments[i].getJoint().getName();
mimic_joint.offset = jm->getMimicOffset();
mimic_joint.multiplier = jm->getMimicFactor();
mimic_joints.push_back(mimic_joint);
continue;
}
}
}
for (std::size_t i = 0; i < mimic_joints.size(); ++i)
{
if(!mimic_joints[i].active)
{
const robot_model::JointModel* joint_model = joint_model_group->getJointModel(mimic_joints[i].joint_name)->getMimic();
for(std::size_t j=0; j < mimic_joints.size(); ++j)
{
if(mimic_joints[j].joint_name == joint_model->getName())
{
mimic_joints[i].map_index = mimic_joints[j].map_index;
}
}
}
}
mimic_joints_ = mimic_joints;
// Setup the joint state groups that we need
state_.reset(new robot_state::RobotState(robot_model_));
state_2_.reset(new robot_state::RobotState(robot_model_));
// Store things for when the set of redundant joints may change
position_ik_ = position_ik;
joint_model_group_ = joint_model_group;
max_solver_iterations_ = max_solver_iterations;
epsilon_ = epsilon;
private_handle.param<std::string>("arm_prefix", arm_prefix_, "");
ur_joint_names_.push_back(arm_prefix_ + "shoulder_pan_joint");
ur_joint_names_.push_back(arm_prefix_ + "shoulder_lift_joint");
ur_joint_names_.push_back(arm_prefix_ + "elbow_joint");
ur_joint_names_.push_back(arm_prefix_ + "wrist_1_joint");
ur_joint_names_.push_back(arm_prefix_ + "wrist_2_joint");
ur_joint_names_.push_back(arm_prefix_ + "wrist_3_joint");
ur_link_names_.push_back(arm_prefix_ + "base_link"); // 0
ur_link_names_.push_back(arm_prefix_ + "ur_base_link"); // 1
ur_link_names_.push_back(arm_prefix_ + "shoulder_link"); // 2
ur_link_names_.push_back(arm_prefix_ + "upper_arm_link"); // 3
ur_link_names_.push_back(arm_prefix_ + "forearm_link"); // 4
ur_link_names_.push_back(arm_prefix_ + "wrist_1_link"); // 5
ur_link_names_.push_back(arm_prefix_ + "wrist_2_link"); // 6
ur_link_names_.push_back(arm_prefix_ + "wrist_3_link"); // 7
ur_link_names_.push_back(arm_prefix_ + "ee_link"); // 8
ur_joint_inds_start_ = getJointIndex(ur_joint_names_[0]);
// check to make sure the serial chain is properly defined in the model
int cur_ur_joint_ind, last_ur_joint_ind = ur_joint_inds_start_;
for(int i=1; i<6; i++) {
cur_ur_joint_ind = getJointIndex(ur_joint_names_[i]);
if(cur_ur_joint_ind < 0) {
ROS_ERROR_NAMED("kdl",
"Kin chain provided in model doesn't contain standard UR joint '%s'.",
ur_joint_names_[i].c_str());
return false;
}
if(cur_ur_joint_ind != last_ur_joint_ind + 1) {
ROS_ERROR_NAMED("kdl",
"Kin chain provided in model doesn't have proper serial joint order: '%s'.",
ur_joint_names_[i].c_str());
return false;
}
last_ur_joint_ind = cur_ur_joint_ind;
}
// if successful, the kinematic chain includes a serial chain of the UR joints
kdl_tree.getChain(getBaseFrame(), ur_link_names_.front(), kdl_base_chain_);
kdl_tree.getChain(ur_link_names_.back(), getTipFrame(), kdl_tip_chain_);
// weights for redundant solution selection
ik_weights_.resize(6);
if(private_handle.hasParam("ik_weights")) {
private_handle.getParam("ik_weights", ik_weights_);
} else {
ik_weights_[0] = 1.0;
ik_weights_[1] = 1.0;
ik_weights_[2] = 0.1;
ik_weights_[3] = 0.1;
ik_weights_[4] = 0.3;
ik_weights_[5] = 0.3;
}
active_ = true;
ROS_DEBUG_NAMED("kdl","KDL solver initialized");
return true;
}
bool URKinematicsPlugin::setRedundantJoints(const std::vector<unsigned int> &redundant_joints)
{
if(num_possible_redundant_joints_ < 0)
{
ROS_ERROR_NAMED("kdl","This group cannot have redundant joints");
return false;
}
if(redundant_joints.size() > num_possible_redundant_joints_)
{
ROS_ERROR_NAMED("kdl","This group can only have %d redundant joints", num_possible_redundant_joints_);
return false;
}
std::vector<unsigned int> redundant_joints_map_index;
unsigned int counter = 0;
for(std::size_t i=0; i < dimension_; ++i)
{
bool is_redundant_joint = false;
for(std::size_t j=0; j < redundant_joints.size(); ++j)
{
if(i == redundant_joints[j])
{
is_redundant_joint = true;
counter++;
break;
}
}
if(!is_redundant_joint)
{
// check for mimic
if(mimic_joints_[i].active)
{
redundant_joints_map_index.push_back(counter);
counter++;
}
}
}
for(std::size_t i=0; i < redundant_joints_map_index.size(); ++i)
ROS_DEBUG_NAMED("kdl","Redundant joint map index: %d %d", (int) i, (int) redundant_joints_map_index[i]);
redundant_joints_map_index_ = redundant_joints_map_index;
redundant_joint_indices_ = redundant_joints;
return true;
}
int URKinematicsPlugin::getJointIndex(const std::string &name) const
{
for (unsigned int i=0; i < ik_chain_info_.joint_names.size(); i++) {
if (ik_chain_info_.joint_names[i] == name)
return i;
}
return -1;
}
int URKinematicsPlugin::getKDLSegmentIndex(const std::string &name) const
{
int i=0;
while (i < (int)kdl_chain_.getNrOfSegments()) {
if (kdl_chain_.getSegment(i).getName() == name) {
return i+1;
}
i++;
}
return -1;
}
bool URKinematicsPlugin::timedOut(const ros::WallTime &start_time, double duration) const
{
return ((ros::WallTime::now()-start_time).toSec() >= duration);
}
bool URKinematicsPlugin::getPositionIK(const geometry_msgs::Pose &ik_pose,
const std::vector<double> &ik_seed_state,
std::vector<double> &solution,
moveit_msgs::MoveItErrorCodes &error_code,
const kinematics::KinematicsQueryOptions &options) const
{
const IKCallbackFn solution_callback = 0;
std::vector<double> consistency_limits;
return searchPositionIK(ik_pose,
ik_seed_state,
default_timeout_,
solution,
solution_callback,
error_code,
consistency_limits,
options);
}
bool URKinematicsPlugin::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 kinematics::KinematicsQueryOptions &options) const
{
const IKCallbackFn solution_callback = 0;
std::vector<double> consistency_limits;
return searchPositionIK(ik_pose,
ik_seed_state,
timeout,
solution,
solution_callback,
error_code,
consistency_limits,
options);
}
bool URKinematicsPlugin::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,
moveit_msgs::MoveItErrorCodes &error_code,
const kinematics::KinematicsQueryOptions &options) const
{
const IKCallbackFn solution_callback = 0;
return searchPositionIK(ik_pose,
ik_seed_state,
timeout,
solution,
solution_callback,
error_code,
consistency_limits,
options);
}
bool URKinematicsPlugin::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 kinematics::KinematicsQueryOptions &options) const
{
std::vector<double> consistency_limits;
return searchPositionIK(ik_pose,
ik_seed_state,
timeout,
solution,
solution_callback,
error_code,
consistency_limits,
options);
}
bool URKinematicsPlugin::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 kinematics::KinematicsQueryOptions &options) const
{
return searchPositionIK(ik_pose,
ik_seed_state,
timeout,
solution,
solution_callback,
error_code,
consistency_limits,
options);
}
typedef std::pair<int, double> idx_double;
bool comparator(const idx_double& l, const idx_double& r)
{ return l.second < r.second; }
bool URKinematicsPlugin::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_);
for(int i=0; i<dimension_; i++)
jnt_seed_state(i) = ik_seed_state[i];
solution.resize(dimension_);
KDL::ChainFkSolverPos_recursive fk_solver_base(kdl_base_chain_);
KDL::ChainFkSolverPos_recursive fk_solver_tip(kdl_tip_chain_);
KDL::JntArray jnt_pos_test(jnt_seed_state);
KDL::JntArray jnt_pos_base(ur_joint_inds_start_);
KDL::JntArray jnt_pos_tip(dimension_ - 6 - ur_joint_inds_start_);
KDL::Frame pose_base, pose_tip;
KDL::Frame kdl_ik_pose;
KDL::Frame kdl_ik_pose_ur_chain;
double homo_ik_pose[4][4];
double q_ik_sols[8][6]; // maximum of 8 IK solutions
uint16_t num_sols;
while(1) {
if(timedOut(n1, timeout)) {
ROS_DEBUG_NAMED("kdl","IK timed out");
error_code.val = error_code.TIMED_OUT;
return false;
}
/////////////////////////////////////////////////////////////////////////////
// find transformation from robot base to UR base and UR tip to robot tip
for(uint32_t i=0; i<jnt_pos_base.rows(); i++)
jnt_pos_base(i) = jnt_pos_test(i);
for(uint32_t i=0; i<jnt_pos_tip.rows(); i++)
jnt_pos_tip(i) = jnt_pos_test(i + ur_joint_inds_start_ + 6);
for(uint32_t i=0; i<jnt_seed_state.rows(); i++)
solution[i] = jnt_pos_test(i);
if(fk_solver_base.JntToCart(jnt_pos_base, pose_base) < 0) {
ROS_ERROR_NAMED("kdl", "Could not compute FK for base chain");
return false;
}
if(fk_solver_tip.JntToCart(jnt_pos_tip, pose_tip) < 0) {
ROS_ERROR_NAMED("kdl", "Could not compute FK for tip chain");
return false;
}
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
// Convert into query for analytic solver
tf::poseMsgToKDL(ik_pose, kdl_ik_pose);
kdl_ik_pose_ur_chain = pose_base.Inverse() * kdl_ik_pose * pose_tip.Inverse();
kdl_ik_pose_ur_chain.Make4x4((double*) homo_ik_pose);
#if KDL_OLD_BUG_FIX
// in older versions of KDL, setting this flag might be necessary
for(int i=0; i<3; i++) homo_ik_pose[i][3] *= 1000; // strange KDL fix
#endif
/////////////////////////////////////////////////////////////////////////////
// Do the analytic IK
num_sols = inverse((double*) homo_ik_pose, (double*) q_ik_sols,
jnt_pos_test(ur_joint_inds_start_+5));
uint16_t num_valid_sols;
std::vector< std::vector<double> > q_ik_valid_sols;
for(uint16_t i=0; i<num_sols; i++)
{
bool valid = true;
std::vector< double > valid_solution;
valid_solution.assign(6,0.0);
for(uint16_t j=0; j<6; j++)
{
if((q_ik_sols[i][j] <= ik_chain_info_.limits[j].max_position) && (q_ik_sols[i][j] >= ik_chain_info_.limits[j].min_position))
{
valid_solution[j] = q_ik_sols[i][j];
valid = true;
continue;
}
else if ((q_ik_sols[i][j] > ik_chain_info_.limits[j].max_position) && (q_ik_sols[i][j]-2*M_PI > ik_chain_info_.limits[j].min_position))
{
valid_solution[j] = q_ik_sols[i][j]-2*M_PI;
valid = true;
continue;
}
else if ((q_ik_sols[i][j] < ik_chain_info_.limits[j].min_position) && (q_ik_sols[i][j]+2*M_PI < ik_chain_info_.limits[j].max_position))
{
valid_solution[j] = q_ik_sols[i][j]+2*M_PI;
valid = true;
continue;
}
else
{
valid = false;
break;
}
}
if(valid)
{
q_ik_valid_sols.push_back(valid_solution);
}
}
// use weighted absolute deviations to determine the solution closest the seed state
std::vector<idx_double> weighted_diffs;
for(uint16_t i=0; i<q_ik_valid_sols.size(); i++) {
double cur_weighted_diff = 0;
for(uint16_t j=0; j<6; j++) {
// solution violates the consistency_limits, throw it out
double abs_diff = std::fabs(ik_seed_state[ur_joint_inds_start_+j] - q_ik_valid_sols[i][j]);
if(!consistency_limits.empty() && abs_diff > consistency_limits[ur_joint_inds_start_+j]) {
cur_weighted_diff = std::numeric_limits<double>::infinity();
break;
}
cur_weighted_diff += ik_weights_[j] * abs_diff;
}
weighted_diffs.push_back(idx_double(i, cur_weighted_diff));
}
std::sort(weighted_diffs.begin(), weighted_diffs.end(), comparator);
#if 0
printf("start\n");
printf(" q %1.2f, %1.2f, %1.2f, %1.2f, %1.2f, %1.2f\n", ik_seed_state[1], ik_seed_state[2], ik_seed_state[3], ik_seed_state[4], ik_seed_state[5], ik_seed_state[6]);
for(uint16_t i=0; i<weighted_diffs.size(); i++) {
int cur_idx = weighted_diffs[i].first;
printf("diff %f, i %d, q %1.2f, %1.2f, %1.2f, %1.2f, %1.2f, %1.2f\n", weighted_diffs[i].second, cur_idx, q_ik_valid_sols[cur_idx][0], q_ik_valid_sols[cur_idx][1], q_ik_valid_sols[cur_idx][2], q_ik_valid_sols[cur_idx][3], q_ik_valid_sols[cur_idx][4], q_ik_valid_sols[cur_idx][5]);
}
printf("end\n");
#endif
for(uint16_t i=0; i<weighted_diffs.size(); i++) {
if(weighted_diffs[i].second == std::numeric_limits<double>::infinity()) {
// rest are infinity, no more feasible solutions
break;
}
// copy the best solution to the output
int cur_idx = weighted_diffs[i].first;
solution = q_ik_valid_sols[cur_idx];
// see if this solution passes the callback function test
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) {
#if 0
std::vector<std::string> fk_link_names;
fk_link_names.push_back(ur_link_names_.back());
std::vector<geometry_msgs::Pose> fk_poses;
getPositionFK(fk_link_names, solution, fk_poses);
KDL::Frame kdl_fk_pose;
tf::poseMsgToKDL(fk_poses[0], kdl_fk_pose);
printf("FK(solution) - pose \n");
for(int i=0; i<4; i++) {
for(int j=0; j<4; j++)
printf("%1.6f ", kdl_fk_pose(i, j)-kdl_ik_pose(i, j));
printf("\n");
}
#endif
return true;
}
}
// none of the solutions were both consistent and passed the solution callback
if(options.lock_redundant_joints) {
ROS_DEBUG_NAMED("kdl","Will not pertubate redundant joints to find solution");
break;
}
if(dimension_ == 6) {
ROS_DEBUG_NAMED("kdl","No other joints to pertubate, cannot find solution");
break;
}
// randomly pertubate other joints and try again
if(!consistency_limits.empty()) {
getRandomConfiguration(jnt_seed_state, consistency_limits, jnt_pos_test, false);
} else {
getRandomConfiguration(jnt_pos_test, false);
}
}
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;
return false;
}
bool URKinematicsPlugin::getPositionFK(const std::vector<std::string> &link_names,
const std::vector<double> &joint_angles,
std::vector<geometry_msgs::Pose> &poses) const
{
ros::WallTime n1 = ros::WallTime::now();
if(!active_)
{
ROS_ERROR_NAMED("kdl","kinematics not active");
return false;
}
poses.resize(link_names.size());
if(joint_angles.size() != dimension_)
{
ROS_ERROR_NAMED("kdl","Joint angles vector must have size: %d",dimension_);
return false;
}
KDL::Frame p_out;
geometry_msgs::PoseStamped pose;
tf::Stamped<tf::Pose> tf_pose;
KDL::JntArray jnt_pos_in(dimension_);
for(unsigned int i=0; i < dimension_; i++)
{
jnt_pos_in(i) = joint_angles[i];
}
KDL::ChainFkSolverPos_recursive fk_solver(kdl_chain_);
bool valid = true;
for(unsigned int i=0; i < poses.size(); i++)
{
ROS_DEBUG_NAMED("kdl","End effector index: %d",getKDLSegmentIndex(link_names[i]));
if(fk_solver.JntToCart(jnt_pos_in,p_out,getKDLSegmentIndex(link_names[i])) >=0)
{
tf::poseKDLToMsg(p_out,poses[i]);
}
else
{
ROS_ERROR_NAMED("kdl","Could not compute FK for %s",link_names[i].c_str());
valid = false;
}
}
return valid;
}
const std::vector<std::string>& URKinematicsPlugin::getJointNames() const
{
return ik_chain_info_.joint_names;
}
const std::vector<std::string>& URKinematicsPlugin::getLinkNames() const
{
return ik_chain_info_.link_names;
}
} // namespace