Representation and evaluation of kinematic constraints. More...

Classes
struct	ConstraintEvaluationResult
	Struct for containing the results of constraint evaluation. More...

class	JointConstraint
	Class for handling single DOF joint constraints. More...

class	KinematicConstraint
	Base class for representing a kinematic constraint. More...

class	KinematicConstraintSet
	A class that contains many different constraints, and can check RobotState *versus the full set. A set is satisfied if and only if all constraints are satisfied. More...

class	OrientationConstraint
	Class for constraints on the orientation of a link. More...

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

class	VisibilityConstraint
	Class for constraints on the visibility relationship between a sensor and a target. More...

Functions
static bool	collectConstraints (XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::JointConstraint &constraint)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::PositionConstraint &constraint)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::OrientationConstraint &constraint)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::VisibilityConstraint &constraint)

bool	constructConstraints (XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
	extract constraint message from XmlRpc node. More...

moveit_msgs::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. More...

moveit_msgs::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. More...

moveit_msgs::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. More...

moveit_msgs::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. More...

moveit_msgs::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. More...

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)
	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. More...

moveit_msgs::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. More...

static bool	constructPoseStamped (XmlRpc::XmlRpcValue::iterator &it, geometry_msgs::PoseStamped &pose)

std::size_t	countIndividualConstraints (const moveit_msgs::Constraints &constr)

static ConstraintEvaluationResult	finishPositionConstraintDecision (const Eigen::Vector3d &pt, const Eigen::Vector3d &desired, const std::string &name, double weight, bool result, bool verbose)

static bool	isArray (XmlRpc::XmlRpcValue &v, size_t size, const std::string &name="", const std::string &description="")

bool	isEmpty (const moveit_msgs::Constraints &constr)
	Check if any constraints were specified. More...

static bool	isStruct (XmlRpc::XmlRpcValue &v, const std::set< std::string > &keys, const std::string &name="")

moveit_msgs::Constraints	mergeConstraints (const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
	Merge two sets of constraints into one. More...

	MOVEIT_CLASS_FORWARD (KinematicConstraint)

	MOVEIT_CLASS_FORWARD (JointConstraint)

	MOVEIT_CLASS_FORWARD (OrientationConstraint)

	MOVEIT_CLASS_FORWARD (PositionConstraint)

	MOVEIT_CLASS_FORWARD (VisibilityConstraint)

	MOVEIT_CLASS_FORWARD (KinematicConstraintSet)

static double	normalizeAngle (double angle)

static double	parseDouble (XmlRpc::XmlRpcValue &v)

Variables
const std::string	LOGNAME = "kinematic_constraint_utils"

Detailed Description

Representation and evaluation of kinematic constraints.

Function Documentation

static bool kinematic_constraints::collectConstraints	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::Constraints &	constraints
	)

static

Definition at line 521 of file utils.cpp.

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::JointConstraint &	constraint
	)

static

Definition at line 342 of file utils.cpp.

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::PositionConstraint &	constraint
	)

static

Definition at line 389 of file utils.cpp.

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::OrientationConstraint &	constraint
	)

static

Definition at line 447 of file utils.cpp.

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::VisibilityConstraint &	constraint
	)

static

Definition at line 484 of file utils.cpp.

bool kinematic_constraints::constructConstraints	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::Constraints &	constraints
	)

extract constraint message from XmlRpc node.

This can be used to construct a Constraints message from specifications uploaded on the parameter server.

Parameters

[in]	params	XmlRpc node of the parameter specification
[out]	constraints	The constructed constraints message

Returns: was the construction successful?

Definition at line 564 of file utils.cpp.

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.

Parameters

[in]	state	The state from which to generate goal joint constraints
[in]	jmg	The group for which to generate goal joint constraints
[in]	tolerance_below	The below tolerance to apply to all constraints
[in]	tolerance_above	The above tolerance to apply to all constraints

Returns: A full constraint message containing all the joint constraints

Definition at line 136 of file utils.cpp.

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.

Parameters

[in]	state	The state from which to generate goal joint constraints
[in]	jmg	The group for which to generate joint constraints
[in]	tolerance	A tolerance to apply both above and below for all constraints

Returns: A full constraint message containing all the joint constraints

Definition at line 130 of file utils.cpp.

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.

Parameters

[in]	link_name	The link name for both constraints
[in]	pose	The pose stamped to be used for the target region.
[in]	tolerance_pos	The dimension of the sphere associated with the target region of the PositionConstraint
[in]	tolerance_angle	The value to assign to the absolute tolerances of the OrientationConstraint

Returns: A full constraint message containing both constraints

Definition at line 156 of file utils.cpp.

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.

Parameters

[in]	link_name	The link name for both constraints
[in]	pose	The pose stamped to be used for the target region.
[in]	tolerance_pos	The dimensions of the box (xyz) associated with the target region of the PositionConstraint
[in]	tolerance_angle	The values to assign to the absolute tolerances (xyz) of the OrientationConstraint

Returns: A full constraint message containing both constraints

Definition at line 197 of file utils.cpp.

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.

Parameters

[in]	link_name	The link name for the OrientationConstraint
[in]	quat	The quaternion for the OrientationConstraint
[in]	tolerance	The absolute axes tolerances to apply to the OrientationConstraint

Returns: A full constraint message containing the orientation constraint

Definition at line 221 of file utils.cpp.

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.

Parameters

[in]	link_name	The link name for the PositionConstraint
[in]	reference_point	A point corresponding to the target_point_offset of the PositionConstraint
[in]	goal_point	The position associated with the constraint region
[in]	tolerance	The radius associated with the sphere volume associated with the constraint region

Returns: A full constraint message containing the position constraint

Definition at line 247 of file utils.cpp.

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.

Parameters

[in]	link_name	The link name for the PositionConstraint
[in]	goal_point	The position associated with the constraint region
[in]	tolerance	The radius associated with the sphere volume associated with the constraint region

Returns: A full constraint message containing the position constraint

Definition at line 237 of file utils.cpp.

static bool kinematic_constraints::constructPoseStamped	(	XmlRpc::XmlRpcValue::iterator &	it,
		geometry_msgs::PoseStamped &	pose
	)

static

Definition at line 321 of file utils.cpp.

std::size_t kinematic_constraints::countIndividualConstraints ( const moveit_msgs::Constraints & constr )

Definition at line 124 of file utils.cpp.

static ConstraintEvaluationResult kinematic_constraints::finishPositionConstraintDecision	(	const Eigen::Vector3d &	pt,
		const Eigen::Vector3d &	desired,
		const std::string &	name,
		double	weight,
		bool	result,
		bool	verbose
	)

inlinestatic

Definition at line 415 of file kinematic_constraint.cpp.

static bool kinematic_constraints::isArray	(	XmlRpc::XmlRpcValue &	v,
		size_t	size,
		const std::string &	name = `""`,
		const std::string &	description = `""`
	)

static

Definition at line 288 of file utils.cpp.

bool kinematic_constraints::isEmpty ( const moveit_msgs::Constraints & constr )

Check if any constraints were specified.

Definition at line 118 of file utils.cpp.

static bool kinematic_constraints::isStruct	(	XmlRpc::XmlRpcValue &	v,
		const std::set< std::string > &	keys,
		const std::string &	name = `""`
	)

static

Definition at line 300 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::mergeConstraints	(	const moveit_msgs::Constraints &	first,
		const moveit_msgs::Constraints &	second
	)

Merge two sets of constraints into one.

This just does appending of all constraints except joint constraints. For members of type JointConstraint, the bounds specified in the parameter first take precedence over parameter second

Parameters

[in]	first	The first constraint to merge
[in]	second	The second constraint to merge

Returns: The merged set of constraints

Definition at line 49 of file utils.cpp.

kinematic_constraints::MOVEIT_CLASS_FORWARD ( KinematicConstraint )

kinematic_constraints::MOVEIT_CLASS_FORWARD ( JointConstraint )

kinematic_constraints::MOVEIT_CLASS_FORWARD ( OrientationConstraint )

kinematic_constraints::MOVEIT_CLASS_FORWARD ( PositionConstraint )

kinematic_constraints::MOVEIT_CLASS_FORWARD ( VisibilityConstraint )

kinematic_constraints::MOVEIT_CLASS_FORWARD ( KinematicConstraintSet )

static double kinematic_constraints::normalizeAngle ( double angle )

static

Definition at line 51 of file kinematic_constraint.cpp.

static double kinematic_constraints::parseDouble ( XmlRpc::XmlRpcValue & v )

static

Definition at line 278 of file utils.cpp.

Variable Documentation

const std::string kinematic_constraints::LOGNAME = "kinematic_constraint_utils"

Definition at line 47 of file utils.cpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation