utils.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
#define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_

#include <moveit_msgs/Constraints.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);
}  // namespace kinematic_constraints

#endif