Class to define a robot configuration in space with the help of cartesian coordinates. More...

#include <cartesianconfiguration.h>

Inheritance diagram for pilz_industrial_motion_testutils::CartesianConfiguration:

Public Member Functions
	CartesianConfiguration ()

	CartesianConfiguration (const std::string &group_name, const std::string &link_name, const std::vector< double > &config)

	CartesianConfiguration (const std::string &group_name, const std::string &link_name, const std::vector< double > &config, const moveit::core::RobotModelConstPtr &robot_model)

const boost::optional< double >	getAngleTolerance () const

const std::string &	getLinkName () const

const geometry_msgs::Pose &	getPose () const

geometry_msgs::Pose &	getPose ()

const boost::optional< double >	getPoseTolerance () const

const JointConfiguration &	getSeed () const

bool	hasSeed () const
	States if a seed for the cartesian configuration is set. More...

void	setAngleTolerance (const double tol)

void	setLinkName (const std::string &link_name)

void	setPose (const geometry_msgs::Pose &pose)

void	setPoseTolerance (const double tol)

void	setSeed (const JointConfiguration &config)

virtual moveit_msgs::Constraints	toGoalConstraints () const override

virtual moveit_msgs::RobotState	toMoveitMsgsRobotState () const override

Public Member Functions inherited from pilz_industrial_motion_testutils::RobotConfiguration
void	clearModel ()

std::string	getGroupName () const

	RobotConfiguration ()

	RobotConfiguration (const std::string &group_name)

	RobotConfiguration (const std::string &group_name, const moveit::core::RobotModelConstPtr &robot_model)

void	setGroupName (const std::string &group_name)

void	setRobotModel (moveit::core::RobotModelConstPtr robot_model)

Static Private Member Functions
static geometry_msgs::Pose	toPose (const std::vector< double > &pose)

static geometry_msgs::PoseStamped	toStampedPose (const geometry_msgs::Pose &pose)

Private Attributes
std::string	link_name_

geometry_msgs::Pose	pose_

boost::optional< JointConfiguration >	seed_ { boost::none }
	The seed for computing the IK solution of the cartesian configuration. More...

boost::optional< double >	tolerance_angle_ { boost::none }
	The value to assign to the absolute tolerances of the orientation constraint. More...

boost::optional< double >	tolerance_pose_ { boost::none }
	The dimensions of the sphere associated with the target region of the position constraint. More...

Additional Inherited Members
Protected Attributes inherited from pilz_industrial_motion_testutils::RobotConfiguration
std::string	group_name_

moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

Class to define a robot configuration in space with the help of cartesian coordinates.

Definition at line 42 of file cartesianconfiguration.h.

Constructor & Destructor Documentation

◆ CartesianConfiguration() [1/3]

pilz_industrial_motion_testutils::CartesianConfiguration::CartesianConfiguration ( )

Definition at line 23 of file cartesianconfiguration.cpp.

◆ CartesianConfiguration() [2/3]

pilz_industrial_motion_testutils::CartesianConfiguration::CartesianConfiguration	(	const std::string &	group_name,
		const std::string &	link_name,
		const std::vector< double > &	config
	)

Definition at line 27 of file cartesianconfiguration.cpp.

◆ CartesianConfiguration() [3/3]

pilz_industrial_motion_testutils::CartesianConfiguration::CartesianConfiguration	(	const std::string &	group_name,
		const std::string &	link_name,
		const std::vector< double > &	config,
		const moveit::core::RobotModelConstPtr &	robot_model
	)

Definition at line 34 of file cartesianconfiguration.cpp.

Member Function Documentation

◆ getAngleTolerance()

const boost::optional< double > pilz_industrial_motion_testutils::CartesianConfiguration::getAngleTolerance ( ) const

inline

Definition at line 168 of file cartesianconfiguration.h.

◆ getLinkName()

const std::string & pilz_industrial_motion_testutils::CartesianConfiguration::getLinkName ( ) const

inline

Definition at line 105 of file cartesianconfiguration.h.

◆ getPose() [1/2]

const geometry_msgs::Pose & pilz_industrial_motion_testutils::CartesianConfiguration::getPose ( ) const

inline

Definition at line 115 of file cartesianconfiguration.h.

◆ getPose() [2/2]

geometry_msgs::Pose & pilz_industrial_motion_testutils::CartesianConfiguration::getPose ( )

inline

Definition at line 120 of file cartesianconfiguration.h.

◆ getPoseTolerance()

const boost::optional< double > pilz_industrial_motion_testutils::CartesianConfiguration::getPoseTolerance ( ) const

inline

Definition at line 158 of file cartesianconfiguration.h.

◆ getSeed()

const JointConfiguration & pilz_industrial_motion_testutils::CartesianConfiguration::getSeed ( ) const

inline

Definition at line 143 of file cartesianconfiguration.h.

◆ hasSeed()

bool pilz_industrial_motion_testutils::CartesianConfiguration::hasSeed ( ) const

inline

States if a seed for the cartesian configuration is set.

Definition at line 148 of file cartesianconfiguration.h.

◆ setAngleTolerance()

void pilz_industrial_motion_testutils::CartesianConfiguration::setAngleTolerance ( const double tol )

inline

Definition at line 163 of file cartesianconfiguration.h.

◆ setLinkName()

void pilz_industrial_motion_testutils::CartesianConfiguration::setLinkName ( const std::string & link_name )

inline

Definition at line 100 of file cartesianconfiguration.h.

◆ setPose()

void pilz_industrial_motion_testutils::CartesianConfiguration::setPose ( const geometry_msgs::Pose & pose )

inline

Definition at line 110 of file cartesianconfiguration.h.

◆ setPoseTolerance()

void pilz_industrial_motion_testutils::CartesianConfiguration::setPoseTolerance ( const double tol )

inline

Definition at line 153 of file cartesianconfiguration.h.

◆ setSeed()

void pilz_industrial_motion_testutils::CartesianConfiguration::setSeed ( const JointConfiguration & config )

inline

Definition at line 138 of file cartesianconfiguration.h.

◆ toGoalConstraints()

moveit_msgs::Constraints pilz_industrial_motion_testutils::CartesianConfiguration::toGoalConstraints ( ) const

inlineoverridevirtual

Implements pilz_industrial_motion_testutils::GoalConstraintMsgConvertible.

Definition at line 125 of file cartesianconfiguration.h.

◆ toMoveitMsgsRobotState()

moveit_msgs::RobotState pilz_industrial_motion_testutils::CartesianConfiguration::toMoveitMsgsRobotState ( ) const

overridevirtual

Implements pilz_industrial_motion_testutils::RobotStateMsgConvertible.

Definition at line 76 of file cartesianconfiguration.cpp.

◆ toPose()

geometry_msgs::Pose pilz_industrial_motion_testutils::CartesianConfiguration::toPose ( const std::vector< double > & pose )

staticprivate

Definition at line 55 of file cartesianconfiguration.cpp.

◆ toStampedPose()

geometry_msgs::PoseStamped pilz_industrial_motion_testutils::CartesianConfiguration::toStampedPose ( const geometry_msgs::Pose & pose )

staticprivate

Definition at line 69 of file cartesianconfiguration.cpp.

Member Data Documentation

◆ link_name_

std::string pilz_industrial_motion_testutils::CartesianConfiguration::link_name_

private

Definition at line 83 of file cartesianconfiguration.h.

◆ pose_

geometry_msgs::Pose pilz_industrial_motion_testutils::CartesianConfiguration::pose_

private

Definition at line 84 of file cartesianconfiguration.h.

◆ seed_

boost::optional<JointConfiguration> pilz_industrial_motion_testutils::CartesianConfiguration::seed_ { boost::none }

private

The seed for computing the IK solution of the cartesian configuration.

Definition at line 95 of file cartesianconfiguration.h.

◆ tolerance_angle_

boost::optional<double> pilz_industrial_motion_testutils::CartesianConfiguration::tolerance_angle_ { boost::none }

private

The value to assign to the absolute tolerances of the orientation constraint.

Definition at line 92 of file cartesianconfiguration.h.

◆ tolerance_pose_

boost::optional<double> pilz_industrial_motion_testutils::CartesianConfiguration::tolerance_pose_ { boost::none }

private

The dimensions of the sphere associated with the target region of the position constraint.

Definition at line 88 of file cartesianconfiguration.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianConfiguration() [1/3]

◆ CartesianConfiguration() [2/3]

◆ CartesianConfiguration() [3/3]

Member Function Documentation

◆ getAngleTolerance()

◆ getLinkName()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getPoseTolerance()

◆ getSeed()

◆ hasSeed()

◆ setAngleTolerance()

◆ setLinkName()

◆ setPose()

◆ setPoseTolerance()

◆ setSeed()

◆ toGoalConstraints()

◆ toMoveitMsgsRobotState()

◆ toPose()

◆ toStampedPose()

Member Data Documentation

◆ link_name_

◆ pose_

◆ seed_

◆ tolerance_angle_

◆ tolerance_pose_