Class for handling single DOF joint constraints. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::JointConstraint:

Public Member Functions
virtual void	clear ()
	Clear the stored constraint.
bool	configure (const moveit_msgs::JointConstraint &jc)
	Configure the constraint based on a moveit_msgs::JointConstraint.
virtual ConstraintEvaluationResult	decide (const robot_state::RobotState &state, bool verbose=false) const
	Decide whether the constraint is satisfied in the indicated state.
virtual bool	enabled () const
	This function returns true if this constraint is configured and able to decide whether states do meet the constraint or not. If this function returns false it means that decide() will always return true -- there is no constraint to be checked.
virtual bool	equal (const KinematicConstraint &other, double margin) const
	Check if two joint constraints are the same.
double	getDesiredJointPosition () const
	Gets the desired position component of the constraint.
const robot_model::JointModel *	getJointModel () const
	Get the joint model for which this constraint operates.
double	getJointToleranceAbove () const
	Gets the upper tolerance component of the joint constraint.
double	getJointToleranceBelow () const
	Gets the lower tolerance component of the joint constraint.
const std::string &	getJointVariableName () const
	Gets the joint variable name, as known to the robot_model::RobotModel.
const std::string &	getLocalVariableName () const
	Gets the local variable name if this constraint was configured for a part of a multi-DOF joint.
	JointConstraint (const robot_model::RobotModelConstPtr &model)
	Constructor.
virtual void	print (std::ostream &out=std::cout) const
	Print the constraint data.
Protected Attributes
bool	joint_is_continuous_
	Whether or not the joint is continuous.
const robot_model::JointModel *	joint_model_
	The joint from the kinematic model for this constraint.
double	joint_position_
double	joint_tolerance_above_
double	joint_tolerance_below_
	Position and tolerance values.
std::string	joint_variable_name_
	The joint variable name.
std::string	local_variable_name_
	The local variable name for a multi DOF joint, if any.

Detailed Description

Class for handling single DOF joint constraints.

This class handles single DOF constraints expressed as a tolerance above and below a target position. Multi-DOF joints can be accomodated by using local name formulations - i.e. for a planar joint specifying a constraint in terms of "planar_joint_name"/x.

Continuous revolute single DOF joints will be evaluated based on wrapping around 3.14 and -3.14. Tolerances above and below will be evaluating over the wrap. For instance, if the constraint value is 3.14 and the tolerance above is .04, a value of -3.14 is in bounds, as is a value of -3.12. -3.1 is out of bounds. Similarly, if the value of the constraint is -3.14, the tolerance above is .04, and the tolerance below is .02 then -3.1 is a valid value, as is 3.14; 3.1 is out of bounds.

Type will be JOINT_CONSTRAINT.

Definition at line 198 of file kinematic_constraint.h.

Constructor & Destructor Documentation

kinematic_constraints::JointConstraint::JointConstraint ( const robot_model::RobotModelConstPtr & model ) [inline]

Constructor.

Parameters:

[in] model The kinematic model used for constraint evaluation

Definition at line 206 of file kinematic_constraint.h.

Member Function Documentation

void kinematic_constraints::JointConstraint::clear ( ) [virtual]

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 265 of file kinematic_constraint.cpp.

bool kinematic_constraints::JointConstraint::configure ( const moveit_msgs::JointConstraint & jc )

Configure the constraint based on a moveit_msgs::JointConstraint.

For the configure command to be successful, the joint must exist in the kinematic model, the joint must not be a multi-DOF joint (for these joints, local variables should be used), and the tolerance values must be positive.

Parameters:

[in] jc JointConstraint for configuration

Returns:: True if constraint can be configured from jc

Definition at line 72 of file kinematic_constraint.cpp.

kinematic_constraints::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide	(	const robot_state::RobotState &	state,
		bool	verbose = `false`
	)		const `[virtual]`

Decide whether the constraint is satisfied in the indicated state.

Parameters:

[in]	state	The kinematic state used for evaluation
[in]	verbose	Whether or not to print output

Returns:

Implements kinematic_constraints::KinematicConstraint.

Definition at line 208 of file kinematic_constraint.cpp.

bool kinematic_constraints::JointConstraint::enabled ( ) const [virtual]

This function returns true if this constraint is configured and able to decide whether states do meet the constraint or not. If this function returns false it means that decide() will always return true -- there is no constraint to be checked.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 260 of file kinematic_constraint.cpp.

bool kinematic_constraints::JointConstraint::equal	(	const KinematicConstraint &	other,
		double	margin
	)		const `[virtual]`

Check if two joint constraints are the same.

This means that the types are the same, the subject of the constraint is the same, and all values associated with the constraint are within a margin. The other constraint must also be enabled. For this to be true of joint constraints, they must act on the same joint, and the position and tolerance values must be within the margins.

Parameters:

[in]	other	The other constraint to test
[in]	margin	The margin to apply to all values associated with constraint

Returns:: True if equal, otherwise false

Implements kinematic_constraints::KinematicConstraint.

Definition at line 196 of file kinematic_constraint.cpp.

double kinematic_constraints::JointConstraint::getDesiredJointPosition ( ) const [inline]

Gets the desired position component of the constraint.

Returns:: The desired joint position

Definition at line 288 of file kinematic_constraint.h.

const robot_model::JointModel* kinematic_constraints::JointConstraint::getJointModel ( ) const [inline]

Get the joint model for which this constraint operates.

Returns:: The relevant joint model if enabled, and otherwise NULL

Definition at line 253 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::getJointToleranceAbove ( ) const [inline]

Gets the upper tolerance component of the joint constraint.

Returns:: The above joint tolerance

Definition at line 299 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::getJointToleranceBelow ( ) const [inline]

Gets the lower tolerance component of the joint constraint.

Returns:: The below joint tolerance

Definition at line 310 of file kinematic_constraint.h.

const std::string& kinematic_constraints::JointConstraint::getJointVariableName ( ) const [inline]

Gets the joint variable name, as known to the robot_model::RobotModel.

This will include the local variable name if a variable of a multi-DOF joint is constrained.

Returns:: The joint variable name

Definition at line 277 of file kinematic_constraint.h.

const std::string& kinematic_constraints::JointConstraint::getLocalVariableName ( ) const [inline]

Gets the local variable name if this constraint was configured for a part of a multi-DOF joint.

Returns:: The component of the joint name after the slash, or the empty string if there is no local variable name

Definition at line 265 of file kinematic_constraint.h.

void kinematic_constraints::JointConstraint::print ( std::ostream & out = std::cout ) const [virtual]

Print the constraint data.

Parameters:

[in] out The file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 274 of file kinematic_constraint.cpp.

Member Data Documentation

bool kinematic_constraints::JointConstraint::joint_is_continuous_ [protected]

Whether or not the joint is continuous.

Definition at line 318 of file kinematic_constraint.h.

const robot_model::JointModel* kinematic_constraints::JointConstraint::joint_model_ [protected]

The joint from the kinematic model for this constraint.

Definition at line 317 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::joint_position_ [protected]

Definition at line 321 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::joint_tolerance_above_ [protected]

Definition at line 321 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::joint_tolerance_below_ [protected]

Position and tolerance values.

Definition at line 321 of file kinematic_constraint.h.

std::string kinematic_constraints::JointConstraint::joint_variable_name_ [protected]

The joint variable name.

Definition at line 320 of file kinematic_constraint.h.

std::string kinematic_constraints::JointConstraint::local_variable_name_ [protected]

The local variable name for a multi DOF joint, if any.

Definition at line 319 of file kinematic_constraint.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation