Classes | Public Member Functions | Protected Member Functions | Protected Attributes
constraint_samplers::JointConstraintSampler Class Reference

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. More...

#include <default_constraint_samplers.h>

Inheritance diagram for constraint_samplers::JointConstraintSampler:
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List of all members.

Classes

struct  JointInfo
 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.

Protected Attributes

std::vector< JointInfobounds_
 The bounds for any joint with bounds that are more restrictive than the joint limits.
random_numbers::RandomNumberGenerator random_number_generator_
 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 * > 
unbounded_
 The joints that are not bounded except by joint limits.
std::vector< double > values_
 Values associated with this group to avoid continuously reallocating.

Detailed Description

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.


Constructor & Destructor Documentation

constraint_samplers::JointConstraintSampler::JointConstraintSampler ( const planning_scene::PlanningSceneConstPtr &  scene,
const std::string &  group_name 
) [inline]

Constructor

Parameters:
[in]sceneThe planning scene used to check the constraint
[in]group_nameThe group name associated with the constraint. Will be invalid if no group name is passed in or the joint model group cannot be found in the kinematic model

Definition at line 70 of file default_constraint_samplers.h.


Member Function Documentation

Clears all data from the constraint.

Reimplemented from constraint_samplers::ConstraintSampler.

Definition at line 183 of file default_constraint_samplers.cpp.

bool constraint_samplers::JointConstraintSampler::configure ( const moveit_msgs::Constraints &  constr) [virtual]

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)
Parameters:
[in]constrThe message containing the constraints
Returns:
True if the conditions are met, otherwise false

Implements constraint_samplers::ConstraintSampler.

Definition at line 43 of file default_constraint_samplers.cpp.

Configures a joint constraint given a vector of constraints.

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 conditions must be met:

  • The vector must contain one or more valid, enabled joint constraints
  • At least one constraint must reference a joint in the indicated group. If no additional bounds exist for this group, then RobotState::setToRandomPositions() can be used to generate a sample independently from the constraint_samplers infrastructure.
  • The constraints must allow a sampleable region for all joints, where the most restrictive minimum bound is less than the most restrictive maximum bound
Parameters:
[in]jcThe vector of joint constraints
Returns:
True if the conditions are met, otherwise false

Definition at line 57 of file default_constraint_samplers.cpp.

Gets the number of constrained joints - joints that have an additional bound beyond the joint limits.

Returns:
The number of constrained joints.

Definition at line 131 of file default_constraint_samplers.h.

virtual const std::string& constraint_samplers::JointConstraintSampler::getName ( ) const [inline, virtual]

Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.

Returns:
string of name

Implements constraint_samplers::ConstraintSampler.

Definition at line 152 of file default_constraint_samplers.h.

Gets the number of unconstrained joints - joint that have no additional bound beyond the joint limits.

Returns:
The number of unconstrained joints.

Definition at line 142 of file default_constraint_samplers.h.

bool constraint_samplers::JointConstraintSampler::project ( robot_state::RobotState state,
unsigned int  max_attempts 
) [virtual]

Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set.

Parameters:
[out]stateThe state into which the values will be placed. Only values for the group are written.
[in]max_attemptsThe maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.
Returns:
True if a sample was successfully projected, false otherwise

Implements constraint_samplers::ConstraintSampler.

Definition at line 178 of file default_constraint_samplers.cpp.

bool constraint_samplers::JointConstraintSampler::sample ( robot_state::RobotState state,
const robot_state::RobotState reference_state,
unsigned int  max_attempts 
) [virtual]

Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

Parameters:
[out]stateThe state into which the values will be placed. Only values for the group are written.
[in]reference_stateReference state that will be used to do transforms or perform other actions
[in]max_attemptsThe maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.
Returns:
True if a sample was successfully taken, false otherwise

Implements constraint_samplers::ConstraintSampler.

Definition at line 148 of file default_constraint_samplers.cpp.


Member Data Documentation

The bounds for any joint with bounds that are more restrictive than the joint limits.

Definition at line 196 of file default_constraint_samplers.h.

Random number generator used to sample.

Definition at line 195 of file default_constraint_samplers.h.

std::vector<unsigned int> constraint_samplers::JointConstraintSampler::uindex_ [protected]

The index of the unbounded joints in the joint state vector.

Definition at line 201 of file default_constraint_samplers.h.

The joints that are not bounded except by joint limits.

Definition at line 199 of file default_constraint_samplers.h.

Values associated with this group to avoid continuously reallocating.

Definition at line 202 of file default_constraint_samplers.h.


The documentation for this class was generated from the following files:


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36