text: /*********************************************************************
   * 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: Ioan Sucan */
  
  #ifndef MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
  #define MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
  
  #include <moveit/move_group/move_group_capability.h>
  #include <moveit_msgs/GetPositionIK.h>
  #include <moveit_msgs/GetPositionFK.h>
  
  namespace move_group
  {
  class MoveGroupKinematicsService : public MoveGroupCapability
  {
  public:
    MoveGroupKinematicsService();
  
    void initialize() override;
  
  private:
    bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
    bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);
  
    void computeIK(
        moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution, moveit_msgs::MoveItErrorCodes& error_code,
        robot_state::RobotState& rs,
        const robot_state::GroupStateValidityCallbackFn& constraint = robot_state::GroupStateValidityCallbackFn()) const;
  
    ros::ServiceServer fk_service_;
    ros::ServiceServer ik_service_;
  };
  }
  
  #endif
  