37 #ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_ 38 #define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_ 40 #include <moveit_msgs/MotionPlanRequest.h> 41 #include <geometry_msgs/PointStamped.h> 42 #include <geometry_msgs/PoseStamped.h> 43 #include <geometry_msgs/QuaternionStamped.h> 67 moveit_msgs::Constraints
mergeConstraints(
const moveit_msgs::Constraints& first,
68 const moveit_msgs::Constraints& second);
71 bool isEmpty(
const moveit_msgs::Constraints& constr);
89 double tolerance_above);
104 double tolerance = std::numeric_limits<double>::epsilon());
121 moveit_msgs::Constraints
constructGoalConstraints(
const std::string& link_name,
const geometry_msgs::PoseStamped& pose,
122 double tolerance_pos = 1e-3,
double tolerance_angle = 1e-2);
139 moveit_msgs::Constraints
constructGoalConstraints(
const std::string& link_name,
const geometry_msgs::PoseStamped& pose,
140 const std::vector<double>& tolerance_pos,
141 const std::vector<double>& tolerance_angle);
155 const geometry_msgs::QuaternionStamped& quat,
156 double tolerance = 1e-2);
172 const geometry_msgs::Point& reference_point,
173 const geometry_msgs::PointStamped& goal_point,
174 double tolerance = 1e-3);
189 const geometry_msgs::PointStamped& goal_point,
190 double tolerance = 1e-3);
bool isEmpty(const moveit_msgs::Constraints &constr)
Check if any constraints were specified.
std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr)
Representation and evaluation of kinematic constraints.
bool constructConstraints(XmlRpc::XmlRpcValue ¶ms, moveit_msgs::Constraints &constraints)
extract constraint message from XmlRpc node.
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...
Representation of a robot's state. This includes position, velocity, acceleration and effort...
moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
Merge two sets of constraints into one.