moveit_core: utils.h Source File

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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 {
00062 moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
00063                                           const moveit_msgs::Constraints& second);
00064 
00066 bool isEmpty(const moveit_msgs::Constraints& constr);
00067 
00068 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
00069 
00082 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
00083                                                   const robot_model::JointModelGroup* jmg, double tolerance_below,
00084                                                   double tolerance_above);
00085 
00097 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
00098                                                   const robot_model::JointModelGroup* jmg,
00099                                                   double tolerance = std::numeric_limits<double>::epsilon());
00100 
00116 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
00117                                                   double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);
00118 
00134 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
00135                                                   const std::vector<double>& tolerance_pos,
00136                                                   const std::vector<double>& tolerance_angle);
00137 
00149 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
00150                                                   const geometry_msgs::QuaternionStamped& quat,
00151                                                   double tolerance = 1e-2);
00152 
00166 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
00167                                                   const geometry_msgs::Point& reference_point,
00168                                                   const geometry_msgs::PointStamped& goal_point,
00169                                                   double tolerance = 1e-3);
00170 
00183 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
00184                                                   const geometry_msgs::PointStamped& goal_point,
00185                                                   double tolerance = 1e-3);
00186 }
00187 
00188 #endif