Class for constraints on the XYZ position of a link. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::PositionConstraint:

Public Member Functions
virtual void	clear ()
	Clear the stored constraint.
bool	configure (const moveit_msgs::PositionConstraint &pc, const robot_state::Transforms &tf)
	Configure the constraint based on a moveit_msgs::PositionConstraint.
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 constraints are the same. For position constraints this means that:
const std::vector < bodies::BodyPtr > &	getConstraintRegions () const
	Returns all the constraint regions.
const robot_model::LinkModel *	getLinkModel () const
	Returns the associated link model, or NULL if not enabled.
const Eigen::Vector3d &	getLinkOffset () const
	Returns the target offset.
const std::string &	getReferenceFrame () const
	Returns the reference frame.
bool	hasLinkOffset () const
	If the constraint is enabled and the link offset is substantially different than zero.
bool	mobileReferenceFrame () const
	If enabled and the specified frame is a mobile frame, return true. Otherwise, returns false.
	PositionConstraint (const robot_model::RobotModelConstPtr &model)
	Constructor.
virtual void	print (std::ostream &out=std::cout) const
	Print the constraint data.
void	swapLinkModel (const robot_model::LinkModel *new_link, const Eigen::Affine3d &update)
	Change this constraint to a different link, applying a specified transform to the constraint region. This should be used for links that are associated to each other via fixed transforms.
Protected Attributes
std::string	constraint_frame_id_
	The constraint frame id.
std::vector< bodies::BodyPtr >	constraint_region_
	The constraint region vector.
EigenSTL::vector_Affine3d	constraint_region_pose_
	The constraint region pose vector.
bool	has_offset_
	Whether the offset is substantially different than 0.0.
const robot_model::LinkModel *	link_model_
	The link model constraint subject.
bool	mobile_frame_
	Whether or not a mobile frame is employed.
Eigen::Vector3d	offset_
	The target offset.

Detailed Description

Class for constraints on the XYZ position of a link.

This class expresses X,Y,Z position constraints of a link. The position area is specified as a bounding volume consisting of one or more shapes - either solid primitives or meshes. The pose information in the volumes will be interpreted by using the header information. The header may either specify a fixed frame or a mobile frame. Additionally, a target offset specified in the frame of the link being constrained can be specified. The type value will return POSITION_CONSTRAINT.

Definition at line 509 of file kinematic_constraint.h.

Constructor & Destructor Documentation

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

Constructor.

Parameters:

[in] model The kinematic model used for constraint evaluation

Definition at line 520 of file kinematic_constraint.h.

Member Function Documentation

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

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 486 of file kinematic_constraint.cpp.

bool kinematic_constraints::PositionConstraint::configure	(	const moveit_msgs::PositionConstraint &	pc,
		const robot_state::Transforms &	tf
	)

Configure the constraint based on a moveit_msgs::PositionConstraint.

For the configure command to be successful, the link must be specified in the model, and one or more constrained regions must be correctly specified, which requires containing a valid shape and a pose for that shape. If the header frame on the constraint is empty, the constraint will fail to configure. If an invalid quaternion is passed for a shape, the identity quaternion will be substituted.

Parameters:

[in] pc moveit_msgs::PositionConstraint for configuration

Returns:: True if constraint can be configured from pc

Definition at line 271 of file kinematic_constraint.cpp.

kinematic_constraints::ConstraintEvaluationResult kinematic_constraints::PositionConstraint::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 442 of file kinematic_constraint.cpp.

bool kinematic_constraints::PositionConstraint::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 497 of file kinematic_constraint.cpp.

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

Check if two constraints are the same. For position constraints this means that:

The types are the same
The link model is the same
The frame of the constraints are the same
The target offsets are no more than the margin apart
Each entry in the constraint region of this constraint matches a region in the other constraint
Each entry in the other constraint region matches a region in the other constraint

Two constraint regions matching each other means that:

The poses match within the margin
The types are the same
The shape volumes are within the margin

Note that the two shapes can have different numbers of regions as long as all regions are matched up to another.

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 382 of file kinematic_constraint.cpp.

const std::vector<bodies::BodyPtr>& kinematic_constraints::PositionConstraint::getConstraintRegions ( ) const [inline]

Returns all the constraint regions.

Returns:: The constraint regions

Definition at line 615 of file kinematic_constraint.h.

const robot_model::LinkModel* kinematic_constraints::PositionConstraint::getLinkModel ( ) const [inline]

Returns the associated link model, or NULL if not enabled.

Returns:: The link model

Definition at line 579 of file kinematic_constraint.h.

const Eigen::Vector3d& kinematic_constraints::PositionConstraint::getLinkOffset ( ) const [inline]

Returns the target offset.

Returns:: The target offset

Definition at line 590 of file kinematic_constraint.h.

const std::string& kinematic_constraints::PositionConstraint::getReferenceFrame ( ) const [inline]

Returns the reference frame.

Returns:: The reference frame

Definition at line 626 of file kinematic_constraint.h.

bool kinematic_constraints::PositionConstraint::hasLinkOffset ( ) const [inline]

If the constraint is enabled and the link offset is substantially different than zero.

Returns:: Whether or not there is a link offset

Definition at line 602 of file kinematic_constraint.h.

bool kinematic_constraints::PositionConstraint::mobileReferenceFrame ( ) const [inline]

If enabled and the specified frame is a mobile frame, return true. Otherwise, returns false.

Returns:: Whether a mobile reference frame is being employed

Definition at line 638 of file kinematic_constraint.h.

void kinematic_constraints::PositionConstraint::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 478 of file kinematic_constraint.cpp.

void kinematic_constraints::PositionConstraint::swapLinkModel	(	const robot_model::LinkModel *	new_link,
		const Eigen::Affine3d &	update
	)

Change this constraint to a different link, applying a specified transform to the constraint region. This should be used for links that are associated to each other via fixed transforms.

Definition at line 372 of file kinematic_constraint.cpp.