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

[oguzhanbzglu]

Summary

Extends the KinematicsInterface base class with optional IK/FK methods and
const-correctness in calculate_frame_difference.

Changes

kinematics_interface (base class):

• Add four new optional virtual methods with default return false implementations:
  • convert_cartesian_pose_to_closest_joint_state — IK to closest solution given seed state
  • convert_cartesian_pose_to_joint_state_within_range — IK within joint range constraints
  • convert_cartesian_pose_to_possible_joint_states — IK returning all solutions
  • convert_joint_state_to_cartesian_pose — FK returning Cartesian pose
• calculate_frame_difference: input parameters x_a and x_b are now const

kinematics_interface_kdl and kinematics_interface_pinocchio (existing interfaces):

• Update calculate_frame_difference signature to match the corrected base class

Note

• The new virtual methods have a default return false so existing plugins are not broken.
• The const update and the virtual methods also can be separated from this MR if this seems necessary.

See also other PRs:

• Kinematics node
• IKFast interface

[codecov]

Codecov Report

❌ Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.
✅ Project coverage is 78.93%. Comparing base (7f7aade) to head (d991e80).

Files with missing lines	Patch %	Lines
...lude/kinematics_interface/kinematics_interface.hpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #297      +/-   ##
==========================================
- Coverage   80.11%   78.93%   -1.18%     
==========================================
  Files           7        7              
  Lines         538      546       +8     
  Branches      249      250       +1     
==========================================
  Hits          431      431              
- Misses         39       47       +8     
  Partials       68       68              

Flag	Coverage Δ
unittests	78.93% <0.00%> (-1.18%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ics_interface_kdl/src/kinematics_interface_kdl.cpp	74.14% <ø> (ø)
...e_pinocchio/src/kinematics_interface_pinocchio.cpp	75.00% <ø> (ø)
...lude/kinematics_interface/kinematics_interface.hpp	20.00% <0.00%> (-80.00%)	⬇️

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[christophfroehlich]

not an expert here, but IMHO this is breaking ABI so we can't backport any of these changes.

[christophfroehlich]

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]

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

[oguzhanbzglu]

not an expert here, but IMHO this is breaking ABI so we can't backport any of these changes.

The const changes cause a problem for ABI pipeline. I removed them.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.