| ||An internal structure used for maintaining constraints on a particular joint. More...|
Public Member Functions
|virtual bool ||configure (const moveit_msgs::Constraints &constr)|
| ||Configures a joint constraint given a Constraints message. |
|bool ||configure (const std::vector< kinematic_constraints::JointConstraint > &jc)|
| ||Configures a joint constraint given a vector of constraints. |
|std::size_t ||getConstrainedJointCount () const |
| ||Gets the number of constrained joints - joints that have an additional bound beyond the joint limits. |
|virtual const std::string & ||getName () const |
| ||Get the name of the constraint sampler, for debugging purposes should be in CamelCase format. |
|std::size_t ||getUnconstrainedJointCount () const |
| ||Gets the number of unconstrained joints - joint that have no additional bound beyond the joint limits. |
| ||JointConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)|
|virtual bool ||project (robot_state::RobotState &state, unsigned int max_attempts)|
| ||Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set. |
|virtual bool ||sample (robot_state::RobotState &state, const robot_state::RobotState &ks, unsigned int max_attempts)|
| ||Samples given the constraints, populating state. This function allows the parameter max_attempts to be set. |
Protected Member Functions
|virtual void ||clear ()|
| ||Clears all data from the constraint. |
|std::vector< JointInfo > ||bounds_|
| ||The bounds for any joint with bounds that are more restrictive than the joint limits. |
| ||Random number generator used to sample. |
|std::vector< unsigned int > ||uindex_|
| ||The index of the unbounded joints in the joint state vector. |
|std::vector< const |
robot_model::JointModel * >
| ||The joints that are not bounded except by joint limits. |
|std::vector< double > ||values_|
| ||Values associated with this group to avoid continuously reallocating. |
JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints.
The set of individual joint constraint reduce the allowable bounds used in the sampling. Unconstrained values will be sampled within their limits.
Definition at line 57 of file default_constraint_samplers.h.
Configures a joint constraint given a Constraints message.
If more than one constraint for a particular joint is specified, the most restrictive set of bounds will be used (highest minimum value, lowest maximum value). For the configuration to be successful, the following condition must be met, in addition to the conditions specified in configure(const std::vector<kinematic_constraints::JointConstraint> &jc) :
- The Constraints message must contain one or more valid joint constraints (where validity is judged by the ability to configure a JointConstraint)
|[in]||constr||The message containing the constraints|
- True if the conditions are met, otherwise false
Definition at line 43 of file default_constraint_samplers.cpp.