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

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::OrientationConstraint:

Public Member Functions
virtual void	clear ()
	Clear the stored constraint.
bool	configure (const moveit_msgs::OrientationConstraint &oc, const robot_state::Transforms &tf)
	Configure the constraint based on a moveit_msgs::OrientationConstraint.
virtual ConstraintEvaluationResult	decide (const robot_state::RobotState &state, bool verbose=false) const
	Decide whether the constraint is satisfied in the indicated state.
virtual bool	enabled () const
	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.
virtual bool	equal (const KinematicConstraint &other, double margin) const
	Check if two orientation constraints are the same.
const Eigen::Matrix3d &	getDesiredRotationMatrix () const
	The rotation target in the reference frame.
const robot_model::LinkModel *	getLinkModel () const
	Gets the subject link model.
const std::string &	getReferenceFrame () const
	The target frame of the planning_models::Transforms class, for interpreting the rotation frame.
double	getXAxisTolerance () const
	Gets the X axis tolerance.
double	getYAxisTolerance () const
	Gets the Y axis tolerance.
double	getZAxisTolerance () const
	Gets the Z axis tolerance.
bool	mobileReferenceFrame () const
	Whether or not a mobile reference frame is being employed.
	OrientationConstraint (const robot_model::RobotModelConstPtr &model)
	Constructor.
virtual void	print (std::ostream &out=std::cout) const
	Print the constraint data.
void	swapLinkModel (const robot_model::LinkModel *new_link, const Eigen::Matrix3d &update)
	Change this constraint to a different link, applying a specified rotation to the constraint region. This should be used for links that are associated to each other via fixed transforms.
Protected Attributes
double	absolute_x_axis_tolerance_
double	absolute_y_axis_tolerance_
double	absolute_z_axis_tolerance_
	Storage for the tolerances.
std::string	desired_rotation_frame_id_
	The target frame of the transform tree.
Eigen::Matrix3d	desired_rotation_matrix_
	The desired rotation matrix in the tf frame.
Eigen::Matrix3d	desired_rotation_matrix_inv_
	The inverse of the desired rotation matrix, precomputed for efficiency.
const robot_model::LinkModel *	link_model_
	The target link model.
bool	mobile_frame_
	Whether or not the header frame is mobile or fixed.

Detailed Description

Class for constraints on the orientation of a link.

This class expresses an orientation constraint on a particular link. The constraint is specified in terms of a quaternion, with tolerances on X,Y, and Z axes. The rotation difference is computed based on the ZXZ Euler angle formulation. The header on the quaternion can be specified in terms of either a fixed frame or a mobile frame. The type value will return ORIENTATION_CONSTRAINT.

Definition at line 342 of file kinematic_constraint.h.

Constructor & Destructor Documentation

kinematic_constraints::OrientationConstraint::OrientationConstraint ( const robot_model::RobotModelConstPtr & model ) [inline]

Constructor.

Parameters:

[in] model The kinematic model used for constraint evaluation

Definition at line 353 of file kinematic_constraint.h.

Member Function Documentation

void kinematic_constraints::OrientationConstraint::clear ( ) [virtual]

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 581 of file kinematic_constraint.cpp.

bool kinematic_constraints::OrientationConstraint::configure	(	const moveit_msgs::OrientationConstraint &	oc,
		const robot_state::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 493 of file kinematic_constraint.cpp.

kinematic_constraints::ConstraintEvaluationResult kinematic_constraints::OrientationConstraint::decide	(	const robot_state::RobotState &	state,
		bool	verbose = `false`
	)		const `[virtual]`

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 596 of file kinematic_constraint.cpp.

bool kinematic_constraints::OrientationConstraint::enabled ( ) const [virtual]

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 591 of file kinematic_constraint.cpp.

bool kinematic_constraints::OrientationConstraint::equal	(	const KinematicConstraint &	other,
		double	margin
	)		const `[virtual]`

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 563 of file kinematic_constraint.cpp.

const Eigen::Matrix3d& kinematic_constraints::OrientationConstraint::getDesiredRotationMatrix ( ) const [inline]

The rotation target in the reference frame.

Returns:: The target rotation

Definition at line 435 of file kinematic_constraint.h.

const robot_model::LinkModel* kinematic_constraints::OrientationConstraint::getLinkModel ( ) const [inline]

Gets the subject link model.

Returns:: Returns the current link model

Definition at line 403 of file kinematic_constraint.h.

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 414 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::getXAxisTolerance ( ) const [inline]

Gets the X axis tolerance.

Returns:: The X axis tolerance

Definition at line 446 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::getYAxisTolerance ( ) const [inline]

Gets the Y axis tolerance.

Returns:: The Y axis tolerance

Definition at line 457 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::getZAxisTolerance ( ) const [inline]

Gets the Z axis tolerance.

Returns:: The Z axis tolerance

Definition at line 468 of file kinematic_constraint.h.

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 425 of file kinematic_constraint.h.

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

Print the constraint data.

Parameters:

[in] out The file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 636 of file kinematic_constraint.cpp.

void kinematic_constraints::OrientationConstraint::swapLinkModel	(	const robot_model::LinkModel *	new_link,
		const Eigen::Matrix3d &	update
	)

Change this constraint to a different link, applying a specified rotation to the constraint region. This should be used for links that are associated to each other via fixed transforms.

Definition at line 554 of file kinematic_constraint.cpp.