Class for constraints on the orientation of a link. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::OrientationConstraint:

Public Member Functions
void	clear () override
	Clear the stored constraint. More...

bool	configure (const moveit_msgs::OrientationConstraint &oc, const moveit::core::Transforms &tf)
	Configure the constraint based on a moveit_msgs::OrientationConstraint. More...

ConstraintEvaluationResult	decide (const moveit::core::RobotState &state, bool verbose=false) const override
	Decide whether the constraint is satisfied in the indicated state. More...

bool	enabled () const override
	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...

bool	equal (const KinematicConstraint &other, double margin) const override
	Check if two orientation constraints are the same. More...

const Eigen::Matrix3d &	getDesiredRotationMatrix () const
	The rotation target in the reference or tf frame. More...

const Eigen::Matrix3d &	getDesiredRotationMatrixInRefFrame () const
	The rotation target in the reference frame. More...

const moveit::core::LinkModel *	getLinkModel () const
	Gets the subject link model. More...

int	getParameterizationType () const

const std::string &	getReferenceFrame () const
	The target frame of the planning_models::Transforms class, for interpreting the rotation frame. More...

double	getXAxisTolerance () const
	Gets the X axis tolerance. More...

double	getYAxisTolerance () const
	Gets the Y axis tolerance. More...

double	getZAxisTolerance () const
	Gets the Z axis tolerance. More...

bool	mobileReferenceFrame () const
	Whether or not a mobile reference frame is being employed. More...

	OrientationConstraint (const moveit::core::RobotModelConstPtr &model)
	Constructor. More...

void	print (std::ostream &out=std::cout) const override
	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 moveit::core::RobotModelConstPtr &	getRobotModel () const

ConstraintType	getType () const
	Get the type of constraint. More...

	KinematicConstraint (const moveit::core::RobotModelConstPtr &model)
	Constructor. More...

virtual	~KinematicConstraint ()

Protected Attributes
double	absolute_x_axis_tolerance_

double	absolute_y_axis_tolerance_

double	absolute_z_axis_tolerance_

Eigen::Matrix3d	desired_R_in_frame_id_

std::string	desired_rotation_frame_id_

Eigen::Matrix3d	desired_rotation_matrix_

Eigen::Matrix3d	desired_rotation_matrix_inv_

const moveit::core::LinkModel *	link_model_

bool	mobile_frame_

int	parameterization_type_

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...

moveit::core::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...

Detailed Description

Class for constraints on the orientation of a link.

This class expresses an orientation constraint on a particular link. The constraint specifies a target orientation via a quaternion as well as tolerances on X,Y, and Z rotation axes. The rotation difference between the target and actual link orientation is expressed either as XYZ Euler angles or as a rotation vector (depending on the parameterization type). The latter is highly recommended, because it supports resolution of subframes and attached bodies. Also, rotation vector representation allows to interpret the tolerances always w.r.t. the given reference frame. Euler angles are much more restricted and exhibit singularities.

For efficiency, if the target orientation is expressed w.r.t. to a fixed frame (relative to the planning frame), some stuff is precomputed. However, mobile reference frames are supported as well.

The type value will return ORIENTATION_CONSTRAINT.

Definition at line 387 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ OrientationConstraint()

kinematic_constraints::OrientationConstraint::OrientationConstraint ( const moveit::core::RobotModelConstPtr & model )

inline

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 398 of file kinematic_constraint.h.

Member Function Documentation

◆ clear()

void kinematic_constraints::OrientationConstraint::clear ( )

overridevirtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 685 of file kinematic_constraint.cpp.

◆ configure()

bool kinematic_constraints::OrientationConstraint::configure	(	const moveit_msgs::OrientationConstraint &	oc,
		const moveit::core::Transforms &	tf
	)

Configure the constraint based on a moveit_msgs::OrientationConstraint.

For the configure command to be successful, the link must exist in the kinematic model. Note that if the absolute tolerance values are left as 0.0 only values less than a very small epsilon will evaluate to satisfied.

Parameters

[in] oc OrientationConstraint for configuration

Returns: True if constraint can be configured from oc

Definition at line 585 of file kinematic_constraint.cpp.

◆ decide()

ConstraintEvaluationResult kinematic_constraints::OrientationConstraint::decide	(	const moveit::core::RobotState &	state,
		bool	verbose = `false`
	)		const

overridevirtual

Decide whether the constraint is satisfied in the indicated state.

Parameters

[in]	state	The kinematic state used for evaluation
[in]	verbose	Whether or not to print output

Returns

Implements kinematic_constraints::KinematicConstraint.

Definition at line 700 of file kinematic_constraint.cpp.

◆ enabled()

bool kinematic_constraints::OrientationConstraint::enabled ( ) const

overridevirtual

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 695 of file kinematic_constraint.cpp.

◆ equal()

bool kinematic_constraints::OrientationConstraint::equal	(	const KinematicConstraint &	other,
		double	margin
	)		const

overridevirtual

Check if two orientation constraints are the same.

This means that the types are the same, the subject of the constraint is the same, and all values associated with the constraint are within a margin. The other constraint must also be enabled. For this to be true of orientation constraints:

The link must be the same
The rotations specified by the quaternions must be within the margin
The tolerances must all be within the margin

Parameters

[in]	other	The other constraint to test
[in]	margin	The margin to apply to all values associated with constraint

Returns: True if equal, otherwise false

Implements kinematic_constraints::KinematicConstraint.

Definition at line 667 of file kinematic_constraint.cpp.

◆ getDesiredRotationMatrix()

const Eigen::Matrix3d& kinematic_constraints::OrientationConstraint::getDesiredRotationMatrix ( ) const

inline

The rotation target in the reference or tf frame.

Returns: The target rotation.

The returned matrix is always a valid rotation matrix.

Definition at line 495 of file kinematic_constraint.h.

◆ getDesiredRotationMatrixInRefFrame()

const Eigen::Matrix3d& kinematic_constraints::OrientationConstraint::getDesiredRotationMatrixInRefFrame ( ) const

inline

The rotation target in the reference frame.

Returns: The target rotation.

The returned matrix is always a valid rotation matrix.

Definition at line 482 of file kinematic_constraint.h.

◆ getLinkModel()

const moveit::core::LinkModel* kinematic_constraints::OrientationConstraint::getLinkModel ( ) const

inline

Gets the subject link model.

Returns: Returns the current link model

Definition at line 448 of file kinematic_constraint.h.

◆ getParameterizationType()

int kinematic_constraints::OrientationConstraint::getParameterizationType ( ) const

inline

Definition at line 534 of file kinematic_constraint.h.

◆ getReferenceFrame()

const std::string& kinematic_constraints::OrientationConstraint::getReferenceFrame ( ) const

inline

The target frame of the planning_models::Transforms class, for interpreting the rotation frame.

Returns: The reference frame.

Definition at line 459 of file kinematic_constraint.h.

◆ getXAxisTolerance()

double kinematic_constraints::OrientationConstraint::getXAxisTolerance ( ) const

inline

Gets the X axis tolerance.

Returns: The X axis tolerance

Definition at line 507 of file kinematic_constraint.h.

◆ getYAxisTolerance()

double kinematic_constraints::OrientationConstraint::getYAxisTolerance ( ) const

inline

Gets the Y axis tolerance.

Returns: The Y axis tolerance

Definition at line 518 of file kinematic_constraint.h.

◆ getZAxisTolerance()

double kinematic_constraints::OrientationConstraint::getZAxisTolerance ( ) const

inline

Gets the Z axis tolerance.

Returns: The Z axis tolerance

Definition at line 529 of file kinematic_constraint.h.

◆ mobileReferenceFrame()

bool kinematic_constraints::OrientationConstraint::mobileReferenceFrame ( ) const

inline

Whether or not a mobile reference frame is being employed.

Returns: True if a mobile reference frame is being employed, and otherwise false.

Definition at line 470 of file kinematic_constraint.h.

◆ print()

void kinematic_constraints::OrientationConstraint::print ( std::ostream & out = std::cout ) const

overridevirtual

Print the constraint data.

Parameters

[in] out The file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 775 of file kinematic_constraint.cpp.

Member Data Documentation

◆ absolute_x_axis_tolerance_

double kinematic_constraints::OrientationConstraint::absolute_x_axis_tolerance_

protected

Definition at line 547 of file kinematic_constraint.h.

◆ absolute_y_axis_tolerance_

double kinematic_constraints::OrientationConstraint::absolute_y_axis_tolerance_

protected

Definition at line 547 of file kinematic_constraint.h.

◆ absolute_z_axis_tolerance_

double kinematic_constraints::OrientationConstraint::absolute_z_axis_tolerance_

protected

Storage for the tolerances

Definition at line 548 of file kinematic_constraint.h.

◆ desired_R_in_frame_id_

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_R_in_frame_id_

protected

Desired rotation matrix in frame_id

Definition at line 541 of file kinematic_constraint.h.

◆ desired_rotation_frame_id_

std::string kinematic_constraints::OrientationConstraint::desired_rotation_frame_id_

protected

The target frame of the transform tree

Definition at line 544 of file kinematic_constraint.h.

◆ desired_rotation_matrix_

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_rotation_matrix_

protected

The desired rotation matrix in the tf frame

Definition at line 542 of file kinematic_constraint.h.

◆ desired_rotation_matrix_inv_

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_rotation_matrix_inv_

protected

The inverse of desired_rotation_matrix_ (for efficiency)

Definition at line 543 of file kinematic_constraint.h.

◆ link_model_

const moveit::core::LinkModel* kinematic_constraints::OrientationConstraint::link_model_

protected

The target link model

Definition at line 540 of file kinematic_constraint.h.

◆ mobile_frame_

bool kinematic_constraints::OrientationConstraint::mobile_frame_

protected

Whether or not the header frame is mobile or fixed

Definition at line 545 of file kinematic_constraint.h.

◆ parameterization_type_

int kinematic_constraints::OrientationConstraint::parameterization_type_

protected

Parameterization type for orientation tolerance

Definition at line 546 of file kinematic_constraint.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OrientationConstraint()

Member Function Documentation

◆ clear()

◆ configure()

◆ decide()

◆ enabled()

◆ equal()

◆ getDesiredRotationMatrix()

◆ getDesiredRotationMatrixInRefFrame()

◆ getLinkModel()

◆ getParameterizationType()

◆ getReferenceFrame()

◆ getXAxisTolerance()

◆ getYAxisTolerance()

◆ getZAxisTolerance()

◆ mobileReferenceFrame()

◆ print()

Member Data Documentation

◆ absolute_x_axis_tolerance_

◆ absolute_y_axis_tolerance_

◆ absolute_z_axis_tolerance_

◆ desired_R_in_frame_id_

◆ desired_rotation_frame_id_

◆ desired_rotation_matrix_

◆ desired_rotation_matrix_inv_

◆ link_model_

◆ mobile_frame_

◆ parameterization_type_