utils.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
#define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_

#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>

namespace XmlRpc
{
class XmlRpcValue;
}

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

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

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

moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
                                                  const robot_model::JointModelGroup* jmg, double tolerance_below,
                                                  double tolerance_above);

moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
                                                  const robot_model::JointModelGroup* jmg,
                                                  double tolerance = std::numeric_limits<double>::epsilon());

moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
                                                  double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);

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);

moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
                                                  const geometry_msgs::QuaternionStamped& quat,
                                                  double tolerance = 1e-2);

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);

moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
                                                  const geometry_msgs::PointStamped& goal_point,
                                                  double tolerance = 1e-3);

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

#endif