utils.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
38 #define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
39 
40 #include <moveit_msgs/MotionPlanRequest.h>
41 #include <geometry_msgs/PointStamped.h>
42 #include <geometry_msgs/PoseStamped.h>
43 #include <geometry_msgs/QuaternionStamped.h>
45 #include <limits>
46 
47 namespace XmlRpc
48 {
49 class XmlRpcValue;
50 }
51 
52 namespace kinematic_constraints
53 {
67 moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
68  const moveit_msgs::Constraints& second);
69 
71 bool isEmpty(const moveit_msgs::Constraints& constr);
72 
73 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
74 
87 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
88  const robot_model::JointModelGroup* jmg, double tolerance_below,
89  double tolerance_above);
90 
102 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
103  const robot_model::JointModelGroup* jmg,
104  double tolerance = std::numeric_limits<double>::epsilon());
105 
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);
123 
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);
142 
154 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
155  const geometry_msgs::QuaternionStamped& quat,
156  double tolerance = 1e-2);
157 
171 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
172  const geometry_msgs::Point& reference_point,
173  const geometry_msgs::PointStamped& goal_point,
174  double tolerance = 1e-3);
175 
188 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
189  const geometry_msgs::PointStamped& goal_point,
190  double tolerance = 1e-3);
191 
203 bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints& constraints);
204 }
205 
206 #endif
bool isEmpty(const moveit_msgs::Constraints &constr)
Check if any constraints were specified.
Definition: utils.cpp:118
std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr)
Definition: utils.cpp:124
Representation and evaluation of kinematic constraints.
bool constructConstraints(XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
extract constraint message from XmlRpc node.
Definition: utils.cpp:564
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...
Definition: utils.cpp:237
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
Merge two sets of constraints into one.
Definition: utils.cpp:49


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jul 10 2019 04:03:05