Class for constraints on the XYZ position of a link. More...
#include <kinematic_constraint.h>
Public Member Functions | |
virtual void | clear () |
Clear the stored constraint. More... | |
bool | configure (const moveit_msgs::PositionConstraint &pc, const robot_state::Transforms &tf) |
Configure the constraint based on a moveit_msgs::PositionConstraint. More... | |
virtual ConstraintEvaluationResult | decide (const robot_state::RobotState &state, bool verbose=false) const |
Decide whether the constraint is satisfied in the indicated state. More... | |
virtual bool | enabled () const |
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 |
Check if two constraints are the same. For position constraints this means that: More... | |
const std::vector< bodies::BodyPtr > & | getConstraintRegions () const |
Returns all the constraint regions. More... | |
const robot_model::LinkModel * | getLinkModel () const |
Returns the associated link model, or NULL if not enabled. More... | |
const Eigen::Vector3d & | getLinkOffset () const |
Returns the target offset. More... | |
const std::string & | getReferenceFrame () const |
Returns the reference frame. More... | |
bool | hasLinkOffset () const |
If the constraint is enabled and the link offset is substantially different than zero. More... | |
bool | mobileReferenceFrame () const |
If enabled and the specified frame is a mobile frame, return true. Otherwise, returns false. More... | |
PositionConstraint (const robot_model::RobotModelConstPtr &model) | |
Constructor. More... | |
virtual void | print (std::ostream &out=std::cout) const |
Print the constraint data. More... | |
Public Member Functions inherited from kinematic_constraints::KinematicConstraint | |
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 | ~KinematicConstraint () |
Protected Attributes | |
std::string | constraint_frame_id_ |
The constraint frame id. More... | |
std::vector< bodies::BodyPtr > | constraint_region_ |
The constraint region vector. More... | |
EigenSTL::vector_Affine3d | constraint_region_pose_ |
The constraint region pose vector. More... | |
bool | has_offset_ |
Whether the offset is substantially different than 0.0. More... | |
const robot_model::LinkModel * | link_model_ |
The link model constraint subject. More... | |
bool | mobile_frame_ |
Whether or not a mobile frame is employed. More... | |
Eigen::Vector3d | offset_ |
The target offset. More... | |
Protected Attributes inherited from kinematic_constraints::KinematicConstraint | |
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... | |
Additional Inherited Members | |
Public Types inherited from kinematic_constraints::KinematicConstraint | |
enum | ConstraintType { UNKNOWN_CONSTRAINT, JOINT_CONSTRAINT, POSITION_CONSTRAINT, ORIENTATION_CONSTRAINT, VISIBILITY_CONSTRAINT } |
Enum for representing a constraint. More... | |
Class for constraints on the XYZ position of a link.
This class expresses X,Y,Z position constraints of a link. The position area is specified as a bounding volume consisting of one or more shapes - either solid primitives or meshes. The pose information in the volumes will be interpreted by using the header information. The header may either specify a fixed frame or a mobile frame. Additionally, a target offset specified in the frame of the link being constrained can be specified. The type value will return POSITION_CONSTRAINT.
Definition at line 505 of file kinematic_constraint.h.
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Constructor.
[in] | model | The kinematic model used for constraint evaluation |
Definition at line 516 of file kinematic_constraint.h.
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Clear the stored constraint.
Implements kinematic_constraints::KinematicConstraint.
Definition at line 477 of file kinematic_constraint.cpp.
bool kinematic_constraints::PositionConstraint::configure | ( | const moveit_msgs::PositionConstraint & | pc, |
const robot_state::Transforms & | tf | ||
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Configure the constraint based on a moveit_msgs::PositionConstraint.
For the configure command to be successful, the link must be specified in the model, and one or more constrained regions must be correctly specified, which requires containing a valid shape and a pose for that shape. If the header frame on the constraint is empty, the constraint will fail to configure. If an invalid quaternion is passed for a shape, the identity quaternion will be substituted.
[in] | pc | moveit_msgs::PositionConstraint for configuration |
Definition at line 272 of file kinematic_constraint.cpp.
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Decide whether the constraint is satisfied in the indicated state.
[in] | state | The kinematic state used for evaluation |
[in] | verbose | Whether or not to print output |
Implements kinematic_constraints::KinematicConstraint.
Definition at line 433 of file kinematic_constraint.cpp.
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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.
Implements kinematic_constraints::KinematicConstraint.
Definition at line 488 of file kinematic_constraint.cpp.
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Check if two constraints are the same. For position constraints this means that:
Two constraint regions matching each other means that:
Note that the two shapes can have different numbers of regions as long as all regions are matched up to another.
[in] | other | The other constraint to test |
[in] | margin | The margin to apply to all values associated with constraint |
Implements kinematic_constraints::KinematicConstraint.
Definition at line 376 of file kinematic_constraint.cpp.
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Returns all the constraint regions.
Definition at line 611 of file kinematic_constraint.h.
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Returns the associated link model, or NULL if not enabled.
Definition at line 575 of file kinematic_constraint.h.
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Returns the target offset.
Definition at line 586 of file kinematic_constraint.h.
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Returns the reference frame.
Definition at line 622 of file kinematic_constraint.h.
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If the constraint is enabled and the link offset is substantially different than zero.
Definition at line 598 of file kinematic_constraint.h.
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If enabled and the specified frame is a mobile frame, return true. Otherwise, returns false.
Definition at line 634 of file kinematic_constraint.h.
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Print the constraint data.
[in] | out | The file descriptor for printing |
Reimplemented from kinematic_constraints::KinematicConstraint.
Definition at line 469 of file kinematic_constraint.cpp.
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The constraint frame id.
Definition at line 647 of file kinematic_constraint.h.
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The constraint region vector.
Definition at line 644 of file kinematic_constraint.h.
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The constraint region pose vector.
Definition at line 645 of file kinematic_constraint.h.
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Whether the offset is substantially different than 0.0.
Definition at line 643 of file kinematic_constraint.h.
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The link model constraint subject.
Definition at line 648 of file kinematic_constraint.h.
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Whether or not a mobile frame is employed.
Definition at line 646 of file kinematic_constraint.h.
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The target offset.
Definition at line 642 of file kinematic_constraint.h.