utils.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
00038 #define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
00039 
00040 #include <moveit_msgs/MotionPlanRequest.h>
00041 #include <geometry_msgs/PointStamped.h>
00042 #include <geometry_msgs/PoseStamped.h>
00043 #include <geometry_msgs/QuaternionStamped.h>
00044 #include <moveit/robot_state/robot_state.h>
00045 #include <limits>
00046 
00047 namespace kinematic_constraints
00048 {
00049 
00063 moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second);
00064 
00065 
00067 bool isEmpty(const moveit_msgs::Constraints &constr);
00068 
00069 std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr);
00070 
00083 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg,
00084                                                   double tolerance_below, double tolerance_above);
00085 
00097 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg,
00098                                                   double tolerance = std::numeric_limits<double>::epsilon());
00099 
00100 
00115 moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::PoseStamped &pose,
00116                                                   double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);
00117 
00132 moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::PoseStamped &pose,
00133                                                   const std::vector<double> &tolerance_pos, const std::vector<double> &tolerance_angle);
00134 
00146 moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, double tolerance = 1e-2);
00147 
00161 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);
00162 
00175 moveit_msgs::Constraints constructGoalConstraints(const std::string &link_name, const geometry_msgs::PointStamped &goal_point, double tolerance = 1e-3);
00176 
00177 
00178 }
00179 
00180 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:53