Namespaces | Functions
utils.h File Reference
#include <moveit_msgs/MotionPlanRequest.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/QuaternionStamped.h>
#include <moveit/robot_state/robot_state.h>
#include <limits>
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Namespaces

namespace  kinematic_constraints
 

Representation and evaluation of kinematic constraints.


Functions

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.
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.
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.
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.
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.
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.
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.
std::size_t kinematic_constraints::countIndividualConstraints (const moveit_msgs::Constraints &constr)
bool kinematic_constraints::isEmpty (const moveit_msgs::Constraints &constr)
 Check if any constraints were specified.
moveit_msgs::Constraints kinematic_constraints::mergeConstraints (const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
 Merge two sets of constraints into one.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Nov 26 2018 03:22:10