#include <kinematic_state_constraint_evaluator.h>
Public Member Functions | |
| virtual void | clear (void) |
| Clear the stored constraint. | |
| bool | decide (double dAng, bool verbose=false) const |
| Decide whether the constraint is satisfied. The distances to the position and to the orientation are given. | |
| virtual bool | decide (const planning_models::KinematicState *state, bool verbose=false) const |
| Decide whether the constraint is satisfied in the indicated state or group, if specified. | |
| void | evaluate (const planning_models::KinematicState *state, double &distAng, bool verbose=false) const |
| Evaluate the distances to the position and to the orientation are given. | |
| const motion_planning_msgs::OrientationConstraint & | getConstraintMessage (void) const |
| Get the constraint message. | |
| OrientationConstraintEvaluator (void) | |
| void | print (std::ostream &out=std::cout) const |
| Print the constraint data. | |
| bool | use (const motion_planning_msgs::OrientationConstraint &pc) |
| This function assumes the constraint has been transformed into the proper frame, if such a transform is needed. | |
| virtual bool | use (const ros::Message *kc) |
| This function assumes the constraint has been transformed into the proper frame, if such a transform is needed. | |
Protected Attributes | |
| boost::scoped_ptr< bodies::Body > | m_constraint_region |
| motion_planning_msgs::OrientationConstraint | m_oc |
| double | m_pitch |
| double | m_roll |
| btMatrix3x3 | m_rotation_matrix |
| double | m_yaw |
Definition at line 120 of file kinematic_state_constraint_evaluator.h.
| planning_environment::OrientationConstraintEvaluator::OrientationConstraintEvaluator | ( | void | ) | [inline] |
Definition at line 124 of file kinematic_state_constraint_evaluator.h.
| void planning_environment::OrientationConstraintEvaluator::clear | ( | void | ) | [virtual] |
Clear the stored constraint.
Implements planning_environment::KinematicConstraintEvaluator.
Definition at line 234 of file kinematic_state_constraint_evaluator.cpp.
| bool planning_environment::OrientationConstraintEvaluator::decide | ( | double | dAng, | |
| bool | verbose = false | |||
| ) | const |
Decide whether the constraint is satisfied. The distances to the position and to the orientation are given.
Definition at line 371 of file kinematic_state_constraint_evaluator.cpp.
| bool planning_environment::OrientationConstraintEvaluator::decide | ( | const planning_models::KinematicState * | state, | |
| bool | verbose = false | |||
| ) | const [virtual] |
Decide whether the constraint is satisfied in the indicated state or group, if specified.
Implements planning_environment::KinematicConstraintEvaluator.
Definition at line 264 of file kinematic_state_constraint_evaluator.cpp.
| void planning_environment::OrientationConstraintEvaluator::evaluate | ( | const planning_models::KinematicState * | state, | |
| double & | distAng, | |||
| bool | verbose = false | |||
| ) | const |
Evaluate the distances to the position and to the orientation are given.
Definition at line 336 of file kinematic_state_constraint_evaluator.cpp.
| const motion_planning_msgs::OrientationConstraint & planning_environment::OrientationConstraintEvaluator::getConstraintMessage | ( | void | ) | const |
Get the constraint message.
Definition at line 381 of file kinematic_state_constraint_evaluator.cpp.
| void planning_environment::OrientationConstraintEvaluator::print | ( | std::ostream & | out = std::cout |
) | const [virtual] |
Print the constraint data.
Reimplemented from planning_environment::KinematicConstraintEvaluator.
Definition at line 430 of file kinematic_state_constraint_evaluator.cpp.
| bool planning_environment::OrientationConstraintEvaluator::use | ( | const motion_planning_msgs::OrientationConstraint & | pc | ) |
This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.
Definition at line 218 of file kinematic_state_constraint_evaluator.cpp.
| bool planning_environment::OrientationConstraintEvaluator::use | ( | const ros::Message * | kc | ) | [virtual] |
This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.
Implements planning_environment::KinematicConstraintEvaluator.
Definition at line 132 of file kinematic_state_constraint_evaluator.cpp.
boost::scoped_ptr<bodies::Body> planning_environment::OrientationConstraintEvaluator::m_constraint_region [protected] |
Definition at line 158 of file kinematic_state_constraint_evaluator.h.
motion_planning_msgs::OrientationConstraint planning_environment::OrientationConstraintEvaluator::m_oc [protected] |
Definition at line 155 of file kinematic_state_constraint_evaluator.h.
double planning_environment::OrientationConstraintEvaluator::m_pitch [protected] |
Definition at line 156 of file kinematic_state_constraint_evaluator.h.
double planning_environment::OrientationConstraintEvaluator::m_roll [protected] |
Definition at line 156 of file kinematic_state_constraint_evaluator.h.
btMatrix3x3 planning_environment::OrientationConstraintEvaluator::m_rotation_matrix [protected] |
Definition at line 157 of file kinematic_state_constraint_evaluator.h.
double planning_environment::OrientationConstraintEvaluator::m_yaw [protected] |
Definition at line 156 of file kinematic_state_constraint_evaluator.h.
