pykinematic_constraint.cpp
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34 
35 /* Author: Peter Mitrano */
36 
37 #include <pybind11/pybind11.h>
38 #include <pybind11/numpy.h>
39 #include <pybind11/eigen.h>
40 #include <pybind11/stl.h>
42 
45 
46 namespace py = pybind11;
47 
48 using namespace kinematic_constraints;
49 
51 {
52  m.doc() = "Class for joint, position, visibility, and other constraints";
53 
54  py::class_<ConstraintEvaluationResult, std::shared_ptr<ConstraintEvaluationResult>>(m, "ConstraintEvaluationResult")
55  .def(py::init<>())
56  .def_readwrite("satisfied", &ConstraintEvaluationResult::satisfied)
57  .def_readwrite("distance", &ConstraintEvaluationResult::distance)
58  //
59  ;
60 
61  py::class_<KinematicConstraintSet, KinematicConstraintSetPtr>(m, "KinematicConstraintSet")
62  .def(py::init<robot_model::RobotModelConstPtr>(), py::arg("robot_model"))
63  .def("add", py::overload_cast<const moveit_msgs::Constraints&, const moveit::core::Transforms&>(
65  .def("decide",
66  py::overload_cast<const moveit::core::RobotState&, bool>(&KinematicConstraintSet::decide, py::const_),
67  py::arg("state"), py::arg("verbose") = false)
68  //
69  ;
70 
71  m.def("constructGoalConstraints",
72  py::overload_cast<const std::string&, const geometry_msgs::PoseStamped&, double, double>(
74  py::arg("link_name"), py::arg("pose"), py::arg("tolerance_pos") = 1e-3, py::arg("tolerance_angle") = 1e-2)
75  //
76  ;
77 }
kinematic_constraint.h
pybind_rosmsg_typecasters.h
kinematic_constraints
Representation and evaluation of kinematic constraints.
Definition: kinematic_constraint.h:52
kinematic_constraints::KinematicConstraintSet::decide
ConstraintEvaluationResult decide(const moveit::core::RobotState &state, bool verbose=false) const
Determines whether all constraints are satisfied by state, returning a single evaluation result.
Definition: kinematic_constraint.cpp:1284
kinematic_constraints::ConstraintEvaluationResult::satisfied
bool satisfied
Whether or not the constraint or constraints were satisfied.
Definition: kinematic_constraint.h:134
utils.h
kinematic_constraints::ConstraintEvaluationResult::distance
double distance
The distance evaluation from the constraint or constraints.
Definition: kinematic_constraint.h:135
kinematic_constraints::KinematicConstraintSet::add
bool add(const moveit_msgs::Constraints &c, const moveit::core::Transforms &tf)
Add all known constraints.
Definition: kinematic_constraint.cpp:1275
kinematic_constraints::constructGoalConstraints
moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance_below, double tolerance_above)
Generates a constraint message intended to be used as a goal constraint for a joint group....
Definition: utils.cpp:136
pybind11
Definition: pybind_rosmsg_typecasters.h:55
def_kinematic_constraints_bindings
void def_kinematic_constraints_bindings(py::module &m)
Definition: pykinematic_constraint.cpp:50


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Nov 21 2021 03:25:56