Skip to content

Add new IK/FK virtual methods and const correctness in base interface #297

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
oguzhanbzglu wants to merge 3 commits into
base: master
Choose a base branch
from
+31 −0
Open

Add new IK/FK virtual methods and const correctness in base interface #297

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
bc0a43d
API const changes to base class and existing interfaces
oguzhanbzglu May 15, 2026
d991e80
Merge branch 'master' into feat/api-const-changes
christophfroehlich May 17, 2026
62be620
Removed redundant method and const changes what breaks ABI
oguzhanbzglu May 28, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 41 additions & 1 deletion kinematics_interface/include/kinematics_interface/kinematics_interface.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@

#include <memory>
#include <string>
#include <utility>
#include <vector>

#include "rclcpp/logging.hpp"
Expand Down Expand Up @@ -117,6 +118,45 @@ class KinematicsInterface
const Eigen::VectorXd & joint_pos, const std::string & link_name,
Eigen::Matrix<double, Eigen::Dynamic, 6> & jacobian_inverse) = 0;

/**
* \brief Convert Cartesian pose to the closest joint state using inverse kinematics.
*/
virtual bool convert_cartesian_pose_to_closest_joint_state(
const Eigen::Isometry3d & /*pose*/, const std::vector<double> & /*current_joint_state*/,
std::vector<double> & /*joint_state*/)
{
return false;
}

/**
* \brief Convert Cartesian pose to joint state within specified ranges using inverse kinematics.
*/
virtual bool convert_cartesian_pose_to_joint_state_within_range(
const Eigen::Isometry3d & /*pose*/,
const std::vector<std::pair<double, double>> & /*joint_ranges*/,
std::vector<double> & /*joint_state*/)
{
return false;
}

/**
* \brief Convert Cartesian pose to all possible joint states using inverse kinematics.
*/
virtual bool convert_cartesian_pose_to_possible_joint_states(
const Eigen::Isometry3d & /*pose*/, std::vector<std::vector<double>> & /*joint_states*/)
{
return false;
}

/**
* \brief Convert joint state to Cartesian pose using forward kinematics.
*/
virtual bool convert_joint_state_to_cartesian_pose(

@christophfroehlich christophfroehlich May 17, 2026

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Isn't this the same as calculate_link_transform? I don't think that this is compatible with the current API if we don't pass the link_name.

@oguzhanbzglu oguzhanbzglu May 28, 2026

Copy link
Copy Markdown
Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Yes that is true thanks for pointing. I have removed it.

const std::vector<double> & /*joint_state*/, Eigen::Isometry3d & /*pose*/)
{
return false;
}

/**
* \brief Calculates the difference between two Cartesian frames
* \param[in] x_a first Cartesian frame (x, y, z, qx, qy, qz, qw)
Expand All @@ -128,7 +168,7 @@ class KinematicsInterface
* \note This method is independent of robot kinematics and the model loaded to the plugin
*/
virtual bool calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
const Eigen::Matrix<double, 7, 1> & x_a, const Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x) = 0;

bool convert_cartesian_deltas_to_joint_deltas(
Expand Down
2 changes: 1 addition & 1 deletion kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ class KinematicsInterfaceKDL : public kinematics_interface::KinematicsInterface
Eigen::Matrix<double, Eigen::Dynamic, 6> & jacobian_inverse) override;

bool calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
const Eigen::Matrix<double, 7, 1> & x_a, const Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x) override;

private:
Expand Down
2 changes: 1 addition & 1 deletion kinematics_interface_kdl/src/kinematics_interface_kdl.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -242,7 +242,7 @@ bool KinematicsInterfaceKDL::calculate_link_transform(
}

bool KinematicsInterfaceKDL::calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
const Eigen::Matrix<double, 7, 1> & x_a, const Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x)
{
// verify inputs
Expand Down
2 changes: 1 addition & 1 deletion ...rface_pinocchio/include/kinematics_interface_pinocchio/kinematics_interface_pinocchio.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ class KinematicsInterfacePinocchio : public kinematics_interface::KinematicsInte
Eigen::Matrix<double, Eigen::Dynamic, 6> & jacobian_inverse) override;

bool calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
const Eigen::Matrix<double, 7, 1> & x_a, const Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x) override;

private:
Expand Down
2 changes: 1 addition & 1 deletion kinematics_interface_pinocchio/src/kinematics_interface_pinocchio.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -382,7 +382,7 @@ bool KinematicsInterfacePinocchio::calculate_link_transform(
}

bool KinematicsInterfacePinocchio::calculate_frame_difference(
Eigen::Matrix<double, 7, 1> & x_a, Eigen::Matrix<double, 7, 1> & x_b, double dt,
const Eigen::Matrix<double, 7, 1> & x_a, const Eigen::Matrix<double, 7, 1> & x_b, double dt,
Eigen::Matrix<double, 6, 1> & delta_x)
{
// verify inputs
Expand Down
Loading