Representation and evaluation of kinematic constraints. More...

Classes
struct	ConstraintEvaluationResult
	Struct for containing the results of constraint evaluation. More...
class	JointConstraint
	Class for handling single DOF joint constraints. More...
class	KinematicConstraint
	Base class for representing a kinematic constraint. More...
class	KinematicConstraintSet
	A class that contains many different constraints, and can check RobotState *versus the full set. A set is satisfied if and only if all constraints are satisfied. More...
class	OrientationConstraint
	Class for constraints on the orientation of a link. More...
class	PositionConstraint
	Class for constraints on the XYZ position of a link. More...
class	VisibilityConstraint
	Class for constraints on the visibility relationship between a sensor and a target. More...
Typedefs
typedef boost::shared_ptr < const KinematicConstraint >	KinematicConstraintConstPtr
	boost::shared_ptr to a Const Kinematic Constraint
typedef boost::shared_ptr < KinematicConstraint >	KinematicConstraintPtr
	boost::shared_ptr to a Kinematic Constraint
typedef boost::shared_ptr < const KinematicConstraintSet >	KinematicConstraintSetConstPtr
	boost::shared_ptr to a KinematicConstraintSet Const
typedef boost::shared_ptr < KinematicConstraintSet >	KinematicConstraintSetPtr
	boost::shared_ptr to a KinematicConstraintSetPtr
Functions
moveit_msgs::Constraints	constructGoalConstraints (const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg, double tolerance_below, double tolerance_above)
	Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group.
moveit_msgs::Constraints	constructGoalConstraints (const robot_state::RobotState &state, const robot_model::JointModelGroup *jmg, double tolerance=std::numeric_limits< double >::epsilon())
	Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group.
moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, double tolerance_pos=1e-3, double tolerance_angle=1e-2)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint.
moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, const std::vector< double > &tolerance_pos, const std::vector< double > &tolerance_angle)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint.
moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, double tolerance=1e-2)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint.
moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::Point &reference_point, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region.
moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region.
std::size_t	countIndividualConstraints (const moveit_msgs::Constraints &constr)
static kinematic_constraints::ConstraintEvaluationResult	finishPositionConstraintDecision (const Eigen::Vector3d &pt, const Eigen::Vector3d &desired, const std::string &name, double weight, bool result, bool verbose)
bool	isEmpty (const moveit_msgs::Constraints &constr)
	Check if any constraints were specified.
moveit_msgs::Constraints	mergeConstraints (const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
	Merge two sets of constraints into one.
static double	normalizeAngle (double angle)

Detailed Description

Representation and evaluation of kinematic constraints.

Typedef Documentation

typedef boost::shared_ptr<const KinematicConstraint> kinematic_constraints::KinematicConstraintConstPtr

boost::shared_ptr to a Const Kinematic Constraint

Definition at line 177 of file kinematic_constraint.h.

typedef boost::shared_ptr<KinematicConstraint> kinematic_constraints::KinematicConstraintPtr

boost::shared_ptr to a Kinematic Constraint

Definition at line 176 of file kinematic_constraint.h.

typedef boost::shared_ptr<const KinematicConstraintSet> kinematic_constraints::KinematicConstraintSetConstPtr

boost::shared_ptr to a KinematicConstraintSet Const

Definition at line 1068 of file kinematic_constraint.h.

typedef boost::shared_ptr<KinematicConstraintSet> kinematic_constraints::KinematicConstraintSetPtr

boost::shared_ptr to a KinematicConstraintSetPtr

Definition at line 1067 of file kinematic_constraint.h.

Function Documentation

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const robot_state::RobotState &	state,
		const robot_model::JointModelGroup *	jmg,
		double	tolerance_below,
		double	tolerance_above
	)

Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group.

Parameters:

[in]	state	The state from which to generate goal joint constraints
[in]	jmg	The group for which to generate goal joint constraints
[in]	tolerance_below	The below tolerance to apply to all constraints
[in]	tolerance_above	The above tolerance to apply to all constraints

Returns:: A full constraint message containing all the joint constraints

Definition at line 124 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const robot_state::RobotState &	state,
		const robot_model::JointModelGroup *	jmg,
		double	tolerance = `std::numeric_limits<double>::epsilon()`
	)

Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group.

Parameters:

[in]	state	The state from which to generate goal joint constraints
[in]	jmg	The group for which to generate joint constraints
[in]	tolerance	A tolerance to apply both above and below for all constraints

Returns:: A full constraint message containing all the joint constraints

Definition at line 118 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	pose,
		double	tolerance_pos = `1e-3`,
		double	tolerance_angle = `1e-2`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint.

Parameters:

[in]	link_name	The link name for both constraints
[in]	pose	The pose stamped to be used for the target region.
[in]	tolerance_pos	The dimension of the sphere associated with the target region of the PositionConstraint
[in]	tolerance_angle	The value to assign to the absolute tolerances of the OrientationConstraint

Returns:: A full constraint message containing both constraints

Definition at line 143 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	pose,
		const std::vector< double > &	tolerance_pos,
		const std::vector< double > &	tolerance_angle
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint.

Parameters:

[in]	link_name	The link name for both constraints
[in]	pose	The pose stamped to be used for the target region.
[in]	tolerance_pos	The dimensions of the box (xyz) associated with the target region of the PositionConstraint
[in]	tolerance_angle	The values to assign to the absolute tolerances (xyz) of the OrientationConstraint

Returns:: A full constraint message containing both constraints

Definition at line 184 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::QuaternionStamped &	quat,
		double	tolerance = `1e-2`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint.

Parameters:

[in]	link_name	The link name for the OrientationConstraint
[in]	quat	The quaternion for the OrientationConstraint
[in]	tolerance	The absolute axes tolerances to apply to the OrientationConstraint

Returns:: A full constraint message containing the orientation constraint

Definition at line 207 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::Point &	reference_point,
		const geometry_msgs::PointStamped &	goal_point,
		double	tolerance = `1e-3`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region.

Parameters:

[in]	link_name	The link name for the PositionConstraint
[in]	reference_point	A point corresponding to the target_point_offset of the PositionConstraint
[in]	goal_point	The position associated with the constraint region
[in]	tolerance	The radius associated with the sphere volume associated with the constraint region

Returns:: A full constraint message containing the position constraint

Definition at line 231 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::PointStamped &	goal_point,
		double	tolerance = `1e-3`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region.

Parameters:

[in]	link_name	The link name for the PositionConstraint
[in]	goal_point	The position associated with the constraint region
[in]	tolerance	The radius associated with the sphere volume associated with the constraint region

Returns:: A full constraint message containing the position constraint

Definition at line 222 of file utils.cpp.

std::size_t kinematic_constraints::countIndividualConstraints ( const moveit_msgs::Constraints & constr )

Definition at line 112 of file utils.cpp.

static kinematic_constraints::ConstraintEvaluationResult kinematic_constraints::finishPositionConstraintDecision	(	const Eigen::Vector3d &	pt,
		const Eigen::Vector3d &	desired,
		const std::string &	name,
		double	weight,
		bool	result,
		bool	verbose
	)		`[inline, static]`

Definition at line 421 of file kinematic_constraint.cpp.

bool kinematic_constraints::isEmpty ( const moveit_msgs::Constraints & constr )

Check if any constraints were specified.

Definition at line 106 of file utils.cpp.

moveit_msgs::Constraints kinematic_constraints::mergeConstraints	(	const moveit_msgs::Constraints &	first,
		const moveit_msgs::Constraints &	second
	)

Merge two sets of constraints into one.

This just does appending of all constraints except joint constraints. For members of type JointConstraint, the bounds specified in the parameter first take precedence over parameter second

Parameters:

[in]	first	The first constraint to merge
[in]	second	The second constraint to merge

Returns:: The merged set of constraints

Definition at line 40 of file utils.cpp.

static double kinematic_constraints::normalizeAngle ( double angle ) [static]

Definition at line 51 of file kinematic_constraint.cpp.

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation