planning_environment::OrientationConstraintEvaluator Class Reference

#include <kinematic_state_constraint_evaluator.h>

Inheritance diagram for planning_environment::OrientationConstraintEvaluator:

[legend]

List of all members.

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 arm_navigation_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 arm_navigation_msgs::OrientationConstraint &pc)
	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
arm_navigation_msgs::OrientationConstraint	m_oc
double	m_pitch
double	m_roll
btMatrix3x3	m_rotation_matrix
double	m_yaw

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Detailed Description

Definition at line 114 of file kinematic_state_constraint_evaluator.h.

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Constructor & Destructor Documentation

planning_environment::OrientationConstraintEvaluator::OrientationConstraintEvaluator

(

void

)

[inline]

Definition at line 118 of file kinematic_state_constraint_evaluator.h.

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Member Function Documentation

void planning_environment::OrientationConstraintEvaluator::clear

(

void

)

[virtual]

Clear the stored constraint.

Implements planning_environment::KinematicConstraintEvaluator.

Definition at line 207 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 344 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 237 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 309 of file kinematic_state_constraint_evaluator.cpp.

const arm_navigation_msgs::OrientationConstraint & planning_environment::OrientationConstraintEvaluator::getConstraintMessage

(

void

)

const

Get the constraint message.

Definition at line 354 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 403 of file kinematic_state_constraint_evaluator.cpp.

bool planning_environment::OrientationConstraintEvaluator::use

(

const arm_navigation_msgs::OrientationConstraint &

pc

)

This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.

Definition at line 191 of file kinematic_state_constraint_evaluator.cpp.

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Member Data Documentation

boost::scoped_ptr<bodies::Body> planning_environment::OrientationConstraintEvaluator::m_constraint_region [protected]

Definition at line 149 of file kinematic_state_constraint_evaluator.h.

arm_navigation_msgs::OrientationConstraint planning_environment::OrientationConstraintEvaluator::m_oc [protected]

Definition at line 146 of file kinematic_state_constraint_evaluator.h.

double planning_environment::OrientationConstraintEvaluator::m_pitch [protected]

Definition at line 147 of file kinematic_state_constraint_evaluator.h.

double planning_environment::OrientationConstraintEvaluator::m_roll [protected]

Definition at line 147 of file kinematic_state_constraint_evaluator.h.

btMatrix3x3 planning_environment::OrientationConstraintEvaluator::m_rotation_matrix [protected]

Definition at line 148 of file kinematic_state_constraint_evaluator.h.

double planning_environment::OrientationConstraintEvaluator::m_yaw [protected]

Definition at line 147 of file kinematic_state_constraint_evaluator.h.

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The documentation for this class was generated from the following files:

• kinematic_state_constraint_evaluator.h
• kinematic_state_constraint_evaluator.cpp