Kildare planning Dept have planning "clinics" every few months where you can discuss your plans informally with planners and they will give you feedback on the liklihood of permission being granted. I'm not sure when the next ones are scheduled but if you call the planning dept they will tell you.
I've used this service and so has another friend and we both found them to be very helpful and, as councils go, quite progressive in their policies- this can be a good or a bad thing depending on what you want to do. You can also try ringing them and ask to speak to a planner if your query is quite straightforward. I was put through to a planner when the clerical staff couldn't answer my query, I was pleasantly surprised at their accessiblility.