utils.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
#define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_

#include <moveit_msgs/MotionPlanRequest.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/QuaternionStamped.h>
#include <moveit/robot_state/robot_state.h>
#include <limits>

namespace kinematic_constraints
{

moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second);


bool isEmpty(const moveit_msgs::Constraints &constr);

std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr);

moveit_msgs::Constraints constructGoalConstraints(const robot_state::JointStateGroup *jsg,
                                                  double tolerance_below, double tolerance_above);

moveit_msgs::Constraints constructGoalConstraints(const robot_state::JointStateGroup *jsg,
                                                  double tolerance = std::numeric_limits<double>::epsilon());


moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::PoseStamped &pose, double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);

moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::PoseStamped &pose,
                                                  const std::vector<double> &tolerance_pos, const std::vector<double> &tolerance_angle);

moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, double tolerance = 1e-2);

moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::Point &reference_point, const geometry_msgs::PointStamped &goal_point, double tolerance = 1e-3);

moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::PointStamped &goal_point, double tolerance = 1e-3);


}

#endif