#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>
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Namespaces | |
| namespace | kinematic_constraints |
Representation and evaluation of kinematic constraints. | |
Functions | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg, double tolerance_below, double tolerance_above) |
| Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg, double tolerance=std::numeric_limits< double >::epsilon()) |
| Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, double tolerance_pos=1e-3, double tolerance_angle=1e-2) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint. | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, const std::vector< double > &tolerance_pos, const std::vector< double > &tolerance_angle) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint. | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, double tolerance=1e-2) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint. | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::Point &reference_point, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. | |
| moveit_msgs::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. | |
| std::size_t | kinematic_constraints::countIndividualConstraints (const moveit_msgs::Constraints &constr) |
| bool | kinematic_constraints::isEmpty (const moveit_msgs::Constraints &constr) |
| Check if any constraints were specified. | |
| moveit_msgs::Constraints | kinematic_constraints::mergeConstraints (const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second) |
| Merge two sets of constraints into one. | |