Public Member Functions | Protected Attributes
kinematic_constraints::OrientationConstraint Class Reference

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

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::OrientationConstraint:
Inheritance graph
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List of all members.

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::LinkModelgetLinkModel () 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::LinkModellink_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 348 of file kinematic_constraint.h.


Constructor & Destructor Documentation

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

Constructor.

Parameters:
[in]modelThe kinematic model used for constraint evaluation

Definition at line 359 of file kinematic_constraint.h.


Member Function Documentation

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 594 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]ocOrientationConstraint for configuration
Returns:
True if constraint can be configured from oc

Definition at line 502 of file kinematic_constraint.cpp.

Decide whether the constraint is satisfied in the indicated state.

Parameters:
[in]stateThe kinematic state used for evaluation
[in]verboseWhether or not to print output
Returns:

Implements kinematic_constraints::KinematicConstraint.

Definition at line 610 of file kinematic_constraint.cpp.

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 604 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]otherThe other constraint to test
[in]marginThe margin to apply to all values associated with constraint
Returns:
True if equal, otherwise false

Implements kinematic_constraints::KinematicConstraint.

Definition at line 575 of file kinematic_constraint.cpp.

The rotation target in the reference frame.

Returns:
The target rotation

Definition at line 440 of file kinematic_constraint.h.

Gets the subject link model.

Returns:
Returns the current link model

Definition at line 408 of file kinematic_constraint.h.

The target frame of the planning_models::Transforms class, for interpreting the rotation frame.

Returns:
The reference frame.

Definition at line 419 of file kinematic_constraint.h.

Gets the X axis tolerance.

Returns:
The X axis tolerance

Definition at line 451 of file kinematic_constraint.h.

Gets the Y axis tolerance.

Returns:
The Y axis tolerance

Definition at line 462 of file kinematic_constraint.h.

Gets the Z axis tolerance.

Returns:
The Z axis tolerance

Definition at line 473 of file kinematic_constraint.h.

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 430 of file kinematic_constraint.h.

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

Print the constraint data.

Parameters:
[in]outThe file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 651 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 565 of file kinematic_constraint.cpp.


Member Data Documentation

Definition at line 490 of file kinematic_constraint.h.

Definition at line 490 of file kinematic_constraint.h.

Storage for the tolerances.

Definition at line 490 of file kinematic_constraint.h.

The target frame of the transform tree.

Definition at line 488 of file kinematic_constraint.h.

The desired rotation matrix in the tf frame.

Definition at line 484 of file kinematic_constraint.h.

The inverse of the desired rotation matrix, precomputed for efficiency.

Definition at line 485 of file kinematic_constraint.h.

The target link model.

Definition at line 483 of file kinematic_constraint.h.

Whether or not the header frame is mobile or fixed.

Definition at line 489 of file kinematic_constraint.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