Public Member Functions | Protected Attributes | List of all members
kinematic_constraints::JointConstraint Class Reference

Class for handling single DOF joint constraints. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::JointConstraint:
Inheritance graph
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Public Member Functions

virtual void clear ()
 Clear the stored constraint. More...
 
bool configure (const moveit_msgs::JointConstraint &jc)
 Configure the constraint based on a moveit_msgs::JointConstraint. More...
 
virtual ConstraintEvaluationResult decide (const robot_state::RobotState &state, bool verbose=false) const
 Decide whether the constraint is satisfied in the indicated state. More...
 
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. More...
 
virtual bool equal (const KinematicConstraint &other, double margin) const
 Check if two joint constraints are the same. More...
 
double getDesiredJointPosition () const
 Gets the desired position component of the constraint. More...
 
const robot_model::JointModelgetJointModel () const
 Get the joint model for which this constraint operates. More...
 
double getJointToleranceAbove () const
 Gets the upper tolerance component of the joint constraint. More...
 
double getJointToleranceBelow () const
 Gets the lower tolerance component of the joint constraint. More...
 
int getJointVariableIndex () const
 
const std::string & getJointVariableName () const
 Gets the joint variable name, as known to the robot_model::RobotModel. More...
 
const std::string & getLocalVariableName () const
 Gets the local variable name if this constraint was configured for a part of a multi-DOF joint. More...
 
 JointConstraint (const robot_model::RobotModelConstPtr &model)
 Constructor. More...
 
virtual void print (std::ostream &out=std::cout) const
 Print the constraint data. More...
 
- Public Member Functions inherited from kinematic_constraints::KinematicConstraint
double getConstraintWeight () const
 The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function. More...
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 
ConstraintType getType () const
 Get the type of constraint. More...
 
 KinematicConstraint (const robot_model::RobotModelConstPtr &model)
 Constructor. More...
 
virtual ~KinematicConstraint ()
 

Protected Attributes

bool joint_is_continuous_
 Whether or not the joint is continuous. More...
 
const robot_model::JointModeljoint_model_
 The joint from the kinematic model for this constraint. More...
 
double joint_position_
 
double joint_tolerance_above_
 
double joint_tolerance_below_
 Position and tolerance values. More...
 
int joint_variable_index_
 The index of the joint variable name in the full robot state. More...
 
std::string joint_variable_name_
 The joint variable name. More...
 
std::string local_variable_name_
 The local variable name for a multi DOF joint, if any. More...
 
- Protected Attributes inherited from kinematic_constraints::KinematicConstraint
double constraint_weight_
 The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function. More...
 
robot_model::RobotModelConstPtr robot_model_
 The kinematic model associated with this constraint. More...
 
ConstraintType type_
 The type of the constraint. More...
 

Additional Inherited Members

- Public Types inherited from kinematic_constraints::KinematicConstraint
enum  ConstraintType {
  UNKNOWN_CONSTRAINT, JOINT_CONSTRAINT, POSITION_CONSTRAINT, ORIENTATION_CONSTRAINT,
  VISIBILITY_CONSTRAINT
}
 Enum for representing a constraint. More...
 

Detailed Description

Class for handling single DOF joint constraints.

This class handles single DOF constraints expressed as a tolerance above and below a target position. Multi-DOF joints can be accomodated by using local name formulations - i.e. for a planar joint specifying a constraint in terms of "planar_joint_name"/x.

Continuous revolute single DOF joints will be evaluated based on wrapping around 3.14 and -3.14. Tolerances above and below will be evaluating over the wrap. For instance, if the constraint value is 3.14 and the tolerance above is .04, a value of -3.14 is in bounds, as is a value of -3.12. -3.1 is out of bounds. Similarly, if the value of the constraint is -3.14, the tolerance above is .04, and the tolerance below is .02 then -3.1 is a valid value, as is 3.14; 3.1 is out of bounds.

Type will be JOINT_CONSTRAINT.

Definition at line 203 of file kinematic_constraint.h.

Constructor & Destructor Documentation

kinematic_constraints::JointConstraint::JointConstraint ( const robot_model::RobotModelConstPtr &  model)
inline

Constructor.

Parameters
[in]modelThe kinematic model used for constraint evaluation

Definition at line 211 of file kinematic_constraint.h.

Member Function Documentation

void kinematic_constraints::JointConstraint::clear ( )
virtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 244 of file kinematic_constraint.cpp.

bool kinematic_constraints::JointConstraint::configure ( const moveit_msgs::JointConstraint &  jc)

Configure the constraint based on a moveit_msgs::JointConstraint.

For the configure command to be successful, the joint must exist in the kinematic model, the joint must not be a multi-DOF joint (for these joints, local variables should be used), and the tolerance values must be positive.

Parameters
[in]jcJointConstraint for configuration
Returns
True if constraint can be configured from jc

Definition at line 71 of file kinematic_constraint.cpp.

kinematic_constraints::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide ( const robot_state::RobotState state,
bool  verbose = false 
) const
virtual

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 207 of file kinematic_constraint.cpp.

bool kinematic_constraints::JointConstraint::enabled ( ) const
virtual

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 239 of file kinematic_constraint.cpp.

bool kinematic_constraints::JointConstraint::equal ( const KinematicConstraint other,
double  margin 
) const
virtual

Check if two joint 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 joint constraints, they must act on the same joint, and the position and tolerance values must be within the margins.

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 194 of file kinematic_constraint.cpp.

double kinematic_constraints::JointConstraint::getDesiredJointPosition ( ) const
inline

Gets the desired position component of the constraint.

Returns
The desired joint position

Definition at line 299 of file kinematic_constraint.h.

const robot_model::JointModel* kinematic_constraints::JointConstraint::getJointModel ( ) const
inline

Get the joint model for which this constraint operates.

Returns
The relevant joint model if enabled, and otherwise NULL

Definition at line 259 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::getJointToleranceAbove ( ) const
inline

Gets the upper tolerance component of the joint constraint.

Returns
The above joint tolerance

Definition at line 310 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::getJointToleranceBelow ( ) const
inline

Gets the lower tolerance component of the joint constraint.

Returns
The below joint tolerance

Definition at line 321 of file kinematic_constraint.h.

int kinematic_constraints::JointConstraint::getJointVariableIndex ( ) const
inline

Definition at line 288 of file kinematic_constraint.h.

const std::string& kinematic_constraints::JointConstraint::getJointVariableName ( ) const
inline

Gets the joint variable name, as known to the robot_model::RobotModel.

This will include the local variable name if a variable of a multi-DOF joint is constrained.

Returns
The joint variable name

Definition at line 283 of file kinematic_constraint.h.

const std::string& kinematic_constraints::JointConstraint::getLocalVariableName ( ) const
inline

Gets the local variable name if this constraint was configured for a part of a multi-DOF joint.

Returns
The component of the joint name after the slash, or the empty string if there is no local variable name

Definition at line 271 of file kinematic_constraint.h.

void kinematic_constraints::JointConstraint::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 254 of file kinematic_constraint.cpp.

Member Data Documentation

bool kinematic_constraints::JointConstraint::joint_is_continuous_
protected

Whether or not the joint is continuous.

Definition at line 328 of file kinematic_constraint.h.

const robot_model::JointModel* kinematic_constraints::JointConstraint::joint_model_
protected

The joint from the kinematic model for this constraint.

Definition at line 327 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::joint_position_
protected

Definition at line 332 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::joint_tolerance_above_
protected

Definition at line 332 of file kinematic_constraint.h.

double kinematic_constraints::JointConstraint::joint_tolerance_below_
protected

Position and tolerance values.

Definition at line 332 of file kinematic_constraint.h.

int kinematic_constraints::JointConstraint::joint_variable_index_
protected

The index of the joint variable name in the full robot state.

Definition at line 331 of file kinematic_constraint.h.

std::string kinematic_constraints::JointConstraint::joint_variable_name_
protected

The joint variable name.

Definition at line 330 of file kinematic_constraint.h.

std::string kinematic_constraints::JointConstraint::local_variable_name_
protected

The local variable name for a multi DOF joint, if any.

Definition at line 329 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 Mon Jan 15 2018 03:50:45