Base class for representing a kinematic constraint. More...
#include <kinematic_constraint.h>
Public Types | |
| enum | ConstraintType { UNKNOWN_CONSTRAINT, JOINT_CONSTRAINT, POSITION_CONSTRAINT, ORIENTATION_CONSTRAINT, VISIBILITY_CONSTRAINT } |
| Enum for representing a constraint. More... | |
Public Member Functions | |
| virtual void | clear ()=0 |
| Clear the stored constraint. More... | |
| virtual ConstraintEvaluationResult | decide (const robot_state::RobotState &state, bool verbose=false) const =0 |
| Decide whether the constraint is satisfied in the indicated state. More... | |
| virtual bool | enabled () const =0 |
| This function returns true if this constraint is configured and able to decide whether states do meet the constraint or not. If this function returns false it means that decide() will always return true – there is no constraint to be checked. More... | |
| virtual bool | equal (const KinematicConstraint &other, double margin) const =0 |
| Check if two constraints are the same. This means that the types are the same, the subject of the constraint is the same, and all values associated with the constraint are within a margin. The other constraint must also be enabled. More... | |
| double | getConstraintWeight () const |
| The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function. More... | |
| const robot_model::RobotModelConstPtr & | getRobotModel () const |
| ConstraintType | getType () const |
| Get the type of constraint. More... | |
| KinematicConstraint (const robot_model::RobotModelConstPtr &model) | |
| Constructor. More... | |
| virtual void | print (std::ostream &=std::cout) const |
| Print the constraint data. More... | |
| virtual | ~KinematicConstraint () |
Protected Attributes | |
| double | constraint_weight_ |
| The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function. More... | |
| robot_model::RobotModelConstPtr | robot_model_ |
| The kinematic model associated with this constraint. More... | |
| ConstraintType | type_ |
| The type of the constraint. More... | |
Detailed Description
Base class for representing a kinematic constraint.
Definition at line 78 of file kinematic_constraint.h.
Member Enumeration Documentation
Enum for representing a constraint.
| Enumerator | |
|---|---|
| UNKNOWN_CONSTRAINT | |
| JOINT_CONSTRAINT | |
| POSITION_CONSTRAINT | |
| ORIENTATION_CONSTRAINT | |
| VISIBILITY_CONSTRAINT | |
Definition at line 82 of file kinematic_constraint.h.
Constructor & Destructor Documentation
| kinematic_constraints::KinematicConstraint::KinematicConstraint | ( | const robot_model::RobotModelConstPtr & | model | ) |
Constructor.
- Parameters
-
[in] model The kinematic model used for constraint evaluation
Definition at line 61 of file kinematic_constraint.cpp.
|
virtualdefault |
Member Function Documentation
|
pure virtual |
Clear the stored constraint.
Implemented in kinematic_constraints::VisibilityConstraint, kinematic_constraints::PositionConstraint, kinematic_constraints::OrientationConstraint, and kinematic_constraints::JointConstraint.
|
pure virtual |
Decide whether the constraint is satisfied in the indicated state.
- Parameters
-
[in] state The kinematic state used for evaluation [in] verbose Whether or not to print output
- Returns
Implemented in kinematic_constraints::VisibilityConstraint, kinematic_constraints::PositionConstraint, kinematic_constraints::OrientationConstraint, and kinematic_constraints::JointConstraint.
|
pure virtual |
This function returns true if this constraint is configured and able to decide whether states do meet the constraint or not. If this function returns false it means that decide() will always return true – there is no constraint to be checked.
Implemented in kinematic_constraints::VisibilityConstraint, kinematic_constraints::PositionConstraint, kinematic_constraints::OrientationConstraint, and kinematic_constraints::JointConstraint.
|
pure virtual |
Check if two constraints are the same. This means that the types are the same, the subject of the constraint is the same, and all values associated with the constraint are within a margin. The other constraint must also be enabled.
- Parameters
-
[in] other The other constraint to test [in] margin The margin to apply to all values associated with constraint
- Returns
- True if equal, otherwise false
Implemented in kinematic_constraints::VisibilityConstraint, kinematic_constraints::PositionConstraint, kinematic_constraints::OrientationConstraint, and kinematic_constraints::JointConstraint.
|
inline |
The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function.
- Returns
- The constraint weight
Definition at line 159 of file kinematic_constraint.h.
|
inline |
- Returns
- The kinematic model associated with this constraint
Definition at line 170 of file kinematic_constraint.h.
|
inline |
Get the type of constraint.
- Returns
- The constraint type
Definition at line 138 of file kinematic_constraint.h.
|
inlinevirtual |
Print the constraint data.
- Parameters
-
[in] out The file descriptor for printing
Reimplemented in kinematic_constraints::VisibilityConstraint, kinematic_constraints::PositionConstraint, kinematic_constraints::OrientationConstraint, and kinematic_constraints::JointConstraint.
Definition at line 148 of file kinematic_constraint.h.
Member Data Documentation
|
protected |
The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function.
Definition at line 178 of file kinematic_constraint.h.
|
protected |
The kinematic model associated with this constraint.
Definition at line 177 of file kinematic_constraint.h.
|
protected |
The type of the constraint.
Definition at line 176 of file kinematic_constraint.h.
The documentation for this class was generated from the following files: