Fawkes API  Fawkes Development Version
robot.h
00001 
00002 /***************************************************************************
00003  *  robot.h - Fawkes to OpenRAVE Robot Handler
00004  *
00005  *  Created: Mon Sep 20 14:50:34 2010
00006  *  Copyright  2010  Bahram Maleki-Fard, AllemaniACs RoboCup Team
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_OPENRAVE_ROBOT_H
00024 #define __PLUGINS_OPENRAVE_ROBOT_H
00025 
00026 #include "types.h"
00027 
00028 #include <openrave/openrave.h>
00029 #include <vector>
00030 
00031 namespace fawkes {
00032 #if 0 /* just to make Emacs auto-indent happy */
00033 }
00034 #endif
00035 
00036 class Logger;
00037 class OpenRaveManipulator;
00038 class OpenRaveEnvironment;
00039 
00040 /** OpenRAVE Robot class */
00041 class OpenRaveRobot
00042 {
00043  public:
00044   OpenRaveRobot(fawkes::Logger* logger = 0);
00045   OpenRaveRobot(const std::string& filename, fawkes::OpenRaveEnvironment* env, fawkes::Logger* logger = 0);
00046   virtual ~OpenRaveRobot();
00047 
00048   // build/load robot parts
00049   virtual void load(const std::string& filename, fawkes::OpenRaveEnvironment* env);
00050   virtual void set_ready();
00051   virtual void set_offset(float trans_x, float trans_y, float trans_z);
00052   virtual void calibrate(float device_trans_x, float device_trans_y, float device_trans_z);
00053   virtual void set_manipulator(fawkes::OpenRaveManipulator* manip, bool display_movements = false);
00054   virtual void update_manipulator();
00055   virtual void update_model();
00056 
00057   virtual bool attach_object(OpenRAVE::KinBodyPtr object);
00058   virtual bool attach_object(const std::string& name, fawkes::OpenRaveEnvironment* env);
00059   virtual bool release_object(OpenRAVE::KinBodyPtr object);
00060   virtual bool release_object(const std::string& name, fawkes::OpenRaveEnvironment* env);
00061   virtual bool release_all_objects();
00062 
00063   virtual bool set_target_rel(float trans_x, float trans_y, float trans_z, bool is_extension=false);
00064   virtual bool set_target_straight(float trans_x, float trans_y, float trans_z);
00065   virtual bool set_target_quat(float trans_x, float trans_y, float trans_z, float quat_w, float quat_x, float quat_y, float quat_z, bool no_offset = false);
00066   virtual bool set_target_axis_angle(float trans_x, float trans_y, float trans_z, float angle, float axisX, float axisY, float axisZ, bool no_offset = false);
00067   virtual bool set_target_euler(euler_rotation_t type, float trans_x, float trans_y, float trans_z, float phi, float theta, float psi, bool no_offset = false);
00068   virtual bool set_target_ikparam(OpenRAVE::IkParameterization ik_param);
00069   virtual void set_target_plannerparams(std::string& params);
00070   virtual void set_target_angles( std::vector<float>& angles ); // just temporary
00071 
00072   virtual bool set_target_object_position(float trans_x, float trans_y, float trans_z, float rot_x);
00073 
00074   virtual OpenRAVE::RobotBasePtr get_robot_ptr() const;
00075   virtual target_t get_target() const;
00076   virtual OpenRaveManipulator* get_manipulator() const;
00077   virtual OpenRAVE::PlannerBase::PlannerParametersPtr get_planner_params() const;
00078   virtual std::vector< std::vector<OpenRAVE::dReal> >* get_trajectory() const;
00079   virtual std::vector< std::vector<float> >* get_trajectory_device() const;
00080 
00081   virtual bool display_planned_movements() const;
00082 
00083   virtual OpenRAVE::ModuleBasePtr get_basemanip() const;
00084 
00085  private:
00086   void init();
00087   bool set_target_transform(OpenRAVE::Vector& trans, OpenRAVE::Vector& rotQuat, bool no_offset = false);
00088   bool set_target_euler(OpenRAVE::Vector& trans, std::vector<float>& rotations, bool no_offset = false);
00089   OpenRAVE::IkParameterization get_5dof_ikparam(OpenRAVE::Transform& trans);
00090 
00091   fawkes::Logger*                       __logger;
00092 
00093   std::string                           __name;
00094   OpenRAVE::RobotBasePtr                __robot;
00095   OpenRAVE::RobotBase::ManipulatorPtr   __arm;
00096   OpenRaveManipulator*                  __manip;
00097   target_t                              __target;
00098 
00099 
00100   OpenRAVE::ModuleBasePtr               __mod_basemanip;
00101 
00102   OpenRAVE::PlannerBase::PlannerParametersPtr   __planner_params;
00103   std::vector< std::vector<OpenRAVE::dReal> >*  __traj;
00104 
00105   float         __trans_offset_x;
00106   float         __trans_offset_y;
00107   float         __trans_offset_z;
00108 
00109   bool          __display_planned_movements;
00110 };
00111 
00112 } // end of namespace fawkes
00113 
00114 #endif