kinematics_interface.hpp

// Copyright (c) 2022, PickNik, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
 
#ifndef KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_HPP_
#define KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_HPP_
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/LU>
 
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/logging.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 
// TODO(anyone): Use std::source_location::function_name() once we require C++20
#ifdef _MSC_VER
#define FUNCTION_SIGNATURE __FUNCSIG__
#else
#define FUNCTION_SIGNATURE __PRETTY_FUNCTION__
#endif
 
namespace kinematics_interface
{
 
using Vector6d = Eigen::Matrix<double, 6, 1>;
 
class KinematicsInterface
{
public:
  KinematicsInterface() = default;
 
  virtual ~KinematicsInterface() = default;
 
  virtual bool initialize(
    const std::string & robot_description,
    std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
    const std::string & param_namespace) = 0;
 
  virtual bool convert_cartesian_deltas_to_joint_deltas(
    const Eigen::VectorXd & joint_pos, const Eigen::Matrix<double, 6, 1> & delta_x,
    const std::string & link_name, Eigen::VectorXd & delta_theta) = 0;
 
  virtual bool convert_joint_deltas_to_cartesian_deltas(
    const Eigen::VectorXd & joint_pos, const Eigen::VectorXd & delta_theta,
    const std::string & link_name, Eigen::Matrix<double, 6, 1> & delta_x) = 0;
 
  virtual bool calculate_link_transform(
    const Eigen::VectorXd & joint_pos, const std::string & link_name,
    Eigen::Isometry3d & transform) = 0;
 
  virtual bool calculate_jacobian(
    const Eigen::VectorXd & joint_pos, const std::string & link_name,
    Eigen::Matrix<double, 6, Eigen::Dynamic> & jacobian) = 0;
 
  virtual bool calculate_jacobian_inverse(
    const Eigen::VectorXd & joint_pos, const std::string & link_name,
    Eigen::Matrix<double, Eigen::Dynamic, 6> & jacobian_inverse) = 0;
 
  virtual bool calculate_frame_difference(
    Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
    Eigen::Matrix<double, 6, 1> & delta_x) = 0;
 
  bool convert_cartesian_deltas_to_joint_deltas(
    std::vector<double> & joint_pos_vec, const std::vector<double> & delta_x_vec,
    const std::string & link_name, std::vector<double> & delta_theta_vec);
 
  bool convert_joint_deltas_to_cartesian_deltas(
    const std::vector<double> & joint_pos_vec, const std::vector<double> & delta_theta_vec,
    const std::string & link_name, std::vector<double> & delta_x_vec);
 
  bool calculate_link_transform(
    const std::vector<double> & joint_pos_vec, const std::string & link_name,
    Eigen::Isometry3d & transform);
 
  bool calculate_jacobian(
    const std::vector<double> & joint_pos_vec, const std::string & link_name,
    Eigen::Matrix<double, 6, Eigen::Dynamic> & jacobian);
 
  bool calculate_jacobian_inverse(
    const std::vector<double> & joint_pos_vec, const std::string & link_name,
    Eigen::Matrix<double, Eigen::Dynamic, 6> & jacobian_inverse);
 
  bool calculate_frame_difference(
    std::vector<double> & x_a_vec, std::vector<double> & x_b_vec, double dt,
    std::vector<double> & delta_x_vec);
};
 
}  // namespace kinematics_interface
 
#endif  // KINEMATICS_INTERFACE__KINEMATICS_INTERFACE_HPP_