utils.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
39 #include <moveit_msgs/Constraints.h>
40 #include <geometry_msgs/PointStamped.h>
41 #include <geometry_msgs/PoseStamped.h>
42 #include <geometry_msgs/QuaternionStamped.h>
44 #include <limits>
45 
46 namespace XmlRpc
47 {
48 class XmlRpcValue;
49 }
50 
51 namespace kinematic_constraints
52 {
66 moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first, const moveit_msgs::Constraints& second);
67 
69 [[deprecated("Use moveit/utils/message_checks.h instead")]] bool isEmpty(const moveit_msgs::Constraints& constr);
70 
71 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
72 
85 moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
86  const moveit::core::JointModelGroup* jmg, double tolerance_below,
87  double tolerance_above);
88 
100 moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
102  double tolerance = std::numeric_limits<double>::epsilon());
103 
119 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
120  double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);
121 
137 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
138  const std::vector<double>& tolerance_pos,
139  const std::vector<double>& tolerance_angle);
140 
152 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
153  const geometry_msgs::QuaternionStamped& quat,
154  double tolerance = 1e-2);
155 
169 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
170  const geometry_msgs::Point& reference_point,
171  const geometry_msgs::PointStamped& goal_point,
172  double tolerance = 1e-3);
173 
186 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
187  const geometry_msgs::PointStamped& goal_point,
188  double tolerance = 1e-3);
189 
201 bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints& constraints);
202 
215 bool resolveConstraintFrames(const moveit::core::RobotState& state, moveit_msgs::Constraints& constraints);
216 } // namespace kinematic_constraints
moveit::core::JointModelGroup
Definition: joint_model_group.h:134
kinematic_constraints::resolveConstraintFrames
bool resolveConstraintFrames(const moveit::core::RobotState &state, moveit_msgs::Constraints &constraints)
Resolves frames used in constraints to links in the robot model.
Definition: utils.cpp:533
kinematic_constraints
Representation and evaluation of kinematic constraints.
Definition: kinematic_constraint.h:52
kinematic_constraints::constructConstraints
bool constructConstraints(XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
extract constraint message from XmlRpc node.
Definition: utils.cpp:523
XmlRpc
moveit::core::RobotState
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:155
kinematic_constraints::mergeConstraints
moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
Merge two sets of constraints into one.
Definition: utils.cpp:50
kinematic_constraints::isEmpty
bool isEmpty(const moveit_msgs::Constraints &constr)
Check if any constraints were specified.
Definition: utils.cpp:119
kinematic_constraints::countIndividualConstraints
std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr)
Definition: utils.cpp:124
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
robot_state.h
XmlRpc::XmlRpcValue


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Oct 12 2021 02:24:45