#include <MoveItHelpers.h>

Public Types
typedef boost::shared_ptr < moveit_msgs::PositionConstraint >	PositionConstraintPtr
typedef boost::shared_ptr < shape_msgs::SolidPrimitive >	SolidPrimitivePtr
Public Member Functions
	MoveItHelpers ()
	~MoveItHelpers ()
Static Public Member Functions
static moveit_msgs::PositionConstraint	getBoxConstraint (const std::string &link_name, const geometry_msgs::PoseStamped &boxOrigin, const double &x, const double &y, const double &z)
static SolidPrimitivePtr	getConeBV (const Eigen::Vector3d &_fromPose, const Eigen::Quaterniond &_fromOrientation, const Eigen::Vector3d &_direction, const double &radius_start, const double &radius_end, Eigen::Vector3d &bv_pose, Eigen::Quaterniond &bv_orientation)
static SolidPrimitivePtr	getCylinderBV (const Eigen::Vector3d &_fromPose, const Eigen::Quaterniond &_fromOrientation, const Eigen::Vector3d &_direction, const double &radius, Eigen::Vector3d &bv_pose, Eigen::Quaterniond &bv_orientation)
static moveit_msgs::Constraints	getJointConstraint (const std::string &link_name, const sensor_msgs::JointState &joint_state, const float &joint_tolerance)
static moveit_msgs::OrientationConstraint	getOrientationConstraint (const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, const float &x_tolerance, const float &y_tolerance, const float &z_tolerance)
static moveit_msgs::Constraints	getPoseConstraint (const std::string &link_name, const geometry_msgs::PoseStamped &pose, double tolerance_pos, double tolerance_angle, int type)
static PositionConstraintPtr	getSpherePoseConstraint (const std::string &link_name, const geometry_msgs::PoseStamped &target_pose, float maxArmReachDistance)

Detailed Description

Definition at line 17 of file MoveItHelpers.h.

Member Typedef Documentation

typedef boost::shared_ptr<moveit_msgs::PositionConstraint> moveit_object_handling::MoveItHelpers::PositionConstraintPtr

Definition at line 21 of file MoveItHelpers.h.

typedef boost::shared_ptr<shape_msgs::SolidPrimitive> moveit_object_handling::MoveItHelpers::SolidPrimitivePtr

Definition at line 22 of file MoveItHelpers.h.

Constructor & Destructor Documentation

moveit_object_handling::MoveItHelpers::MoveItHelpers ( ) [inline]

Definition at line 26 of file MoveItHelpers.h.

moveit_object_handling::MoveItHelpers::~MoveItHelpers ( ) [inline]

Definition at line 28 of file MoveItHelpers.h.

Member Function Documentation

moveit_msgs::PositionConstraint moveit_object_handling::MoveItHelpers::getBoxConstraint	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	boxOrigin,
		const double &	x,
		const double &	y,
		const double &	z
	)		`[static]`

Parameters:

boxOrgin the origin of the box

Definition at line 60 of file MoveItHelpers.cpp.

moveit_object_handling::MoveItHelpers::SolidPrimitivePtr moveit_object_handling::MoveItHelpers::getConeBV	(	const Eigen::Vector3d &	_fromPose,
		const Eigen::Quaterniond &	_fromOrientation,
		const Eigen::Vector3d &	_direction,
		const double &	radius_start,
		const double &	radius_end,
		Eigen::Vector3d &	bv_pose,
		Eigen::Quaterniond &	bv_orientation
	)		`[static]`

Like getCylinderConstraint() with two input stamped poses, but here 'dir' is specified relative to from, it is a moving direction, not a position. returns a constraint with a cone which at <from> has radius <radius_start>, and goes along <dir>, where it has radius <radius_end>.

Definition at line 204 of file MoveItHelpers.cpp.

moveit_object_handling::MoveItHelpers::SolidPrimitivePtr moveit_object_handling::MoveItHelpers::getCylinderBV	(	const Eigen::Vector3d &	_fromPose,
		const Eigen::Quaterniond &	_fromOrientation,
		const Eigen::Vector3d &	_direction,
		const double &	radius,
		Eigen::Vector3d &	bv_pose,
		Eigen::Quaterniond &	bv_orientation
	)		`[static]`

Definition at line 114 of file MoveItHelpers.cpp.

moveit_msgs::Constraints moveit_object_handling::MoveItHelpers::getJointConstraint	(	const std::string &	link_name,
		const sensor_msgs::JointState &	joint_state,
		const float &	joint_tolerance
	)		`[static]`

Gets the joint constraint such that it corresponds to the passed joint_state

Definition at line 365 of file MoveItHelpers.cpp.

moveit_msgs::OrientationConstraint moveit_object_handling::MoveItHelpers::getOrientationConstraint	(	const std::string &	link_name,
		const geometry_msgs::QuaternionStamped &	quat,
		const float &	x_tolerance,
		const float &	y_tolerance,
		const float &	z_tolerance
	)		`[static]`

Definition at line 385 of file MoveItHelpers.cpp.

moveit_msgs::Constraints moveit_object_handling::MoveItHelpers::getPoseConstraint	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	pose,
		double	tolerance_pos,
		double	tolerance_angle,
		int	type
	)		`[static]`

Adds goal constraints for the link to be at this pose.

Parameters:

type	if 0, only position is considered. If 1, position and orientation are considered, and if 2 then only orientation is considered.

Definition at line 531 of file MoveItHelpers.cpp.

moveit_object_handling::MoveItHelpers::PositionConstraintPtr moveit_object_handling::MoveItHelpers::getSpherePoseConstraint	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	target_pose,
		float	maxArmReachDistance
	)		`[static]`

Parameters:

maxArmReachDistance	the maximum distance the arm can reach (radius of the reaching sphere). Can be an overestimation of it, but should not underestimate.
maxArmReachDistance	the maximum distance the arm can reach (radius of the reaching sphere). Can be an overestimation of it, but should not underestimate.

Definition at line 402 of file MoveItHelpers.cpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation