constrained_cartesian_goal.cpp File Reference

This defines a underconstrained goal update filter. More...

#include <stomp_plugins/update_filters/constrained_cartesian_goal.h>
#include <ros/console.h>
#include <Eigen/Geometry>
#include <eigen_conversions/eigen_msg.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <pluginlib/class_list_macros.h>
#include <XmlRpcException.h>

Include dependency graph for constrained_cartesian_goal.cpp:

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Namespaces
namespace	stomp_moveit
namespace	stomp_moveit::update_filters
Functions
	PLUGINLIB_EXPORT_CLASS (stomp_moveit::update_filters::ConstrainedCartesianGoal, stomp_moveit::update_filters::StompUpdateFilter)
Variables
static int	CARTESIAN_DOF_SIZE = 6
static int const	IK_ATTEMPTS = 10
static int const	IK_TIMEOUT = 0.05

---

Detailed Description

This defines a underconstrained goal update filter.

This will force goal constraints into the task space.

Author:

Jorge Nicho

Date:

June 3, 2016

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2016, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file constrained_cartesian_goal.cpp.

---

Function Documentation

PLUGINLIB_EXPORT_CLASS	(	stomp_moveit::update_filters::ConstrainedCartesianGoal	,
		stomp_moveit::update_filters::StompUpdateFilter
	)

---

Variable Documentation

int CARTESIAN_DOF_SIZE = 6 [static]

Definition at line 39 of file constrained_cartesian_goal.cpp.

int const IK_ATTEMPTS = 10 [static]

Definition at line 40 of file constrained_cartesian_goal.cpp.

int const IK_TIMEOUT = 0.05 [static]

Definition at line 41 of file constrained_cartesian_goal.cpp.