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

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::OrientationConstraint:

Public Member Functions
virtual void	clear ()
	Clear the stored constraint. More...

bool	configure (const moveit_msgs::OrientationConstraint &oc, const robot_state::Transforms &tf)
	Configure the constraint based on a moveit_msgs::OrientationConstraint. 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 orientation constraints are the same. More...

const Eigen::Matrix3d &	getDesiredRotationMatrix () const
	The rotation target in the reference frame. More...

const robot_model::LinkModel *	getLinkModel () const
	Gets the subject link model. More...

const std::string &	getReferenceFrame () const
	The target frame of the planning_models::Transforms class, for interpreting the rotation frame. More...

double	getXAxisTolerance () const
	Gets the X axis tolerance. More...

double	getYAxisTolerance () const
	Gets the Y axis tolerance. More...

double	getZAxisTolerance () const
	Gets the Z axis tolerance. More...

bool	mobileReferenceFrame () const
	Whether or not a mobile reference frame is being employed. More...

	OrientationConstraint (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
double	absolute_x_axis_tolerance_

double	absolute_y_axis_tolerance_

double	absolute_z_axis_tolerance_
	Storage for the tolerances. More...

std::string	desired_rotation_frame_id_
	The target frame of the transform tree. More...

Eigen::Matrix3d	desired_rotation_matrix_
	The desired rotation matrix in the tf frame. More...

Eigen::Matrix3d	desired_rotation_matrix_inv_
	The inverse of the desired rotation matrix, precomputed for efficiency. More...

const robot_model::LinkModel *	link_model_
	The target link model. More...

bool	mobile_frame_
	Whether or not the header frame is mobile or fixed. 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 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] model The kinematic model used for constraint evaluation

Definition at line 359 of file kinematic_constraint.h.

Member Function Documentation

void kinematic_constraints::OrientationConstraint::clear ( )

virtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 577 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] oc OrientationConstraint for configuration

Returns: True if constraint can be configured from oc

Definition at line 493 of file kinematic_constraint.cpp.

ConstraintEvaluationResult kinematic_constraints::OrientationConstraint::decide	(	const robot_state::RobotState &	state,
		bool	verbose = `false`
	)		const

virtual

Decide whether the constraint is satisfied in the indicated state.

Parameters

[in]	state	The kinematic state used for evaluation
[in]	verbose	Whether or not to print output

Returns

Implements kinematic_constraints::KinematicConstraint.

Definition at line 592 of file kinematic_constraint.cpp.

bool kinematic_constraints::OrientationConstraint::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 587 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]	other	The other constraint to test
[in]	margin	The margin to apply to all values associated with constraint

Returns: True if equal, otherwise false

Implements kinematic_constraints::KinematicConstraint.

Definition at line 559 of file kinematic_constraint.cpp.

const Eigen::Matrix3d& kinematic_constraints::OrientationConstraint::getDesiredRotationMatrix ( ) const

inline

The rotation target in the reference frame.

Returns: The target rotation

Definition at line 440 of file kinematic_constraint.h.

const robot_model::LinkModel* kinematic_constraints::OrientationConstraint::getLinkModel ( ) const

inline

Gets the subject link model.

Returns: Returns the current link model

Definition at line 408 of file kinematic_constraint.h.

const std::string& kinematic_constraints::OrientationConstraint::getReferenceFrame ( ) const

inline

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.

double kinematic_constraints::OrientationConstraint::getXAxisTolerance ( ) const

inline

Gets the X axis tolerance.

Returns: The X axis tolerance

Definition at line 451 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::getYAxisTolerance ( ) const

inline

Gets the Y axis tolerance.

Returns: The Y axis tolerance

Definition at line 462 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::getZAxisTolerance ( ) const

inline

Gets the Z axis tolerance.

Returns: The Z axis tolerance

Definition at line 473 of file kinematic_constraint.h.

bool kinematic_constraints::OrientationConstraint::mobileReferenceFrame ( ) const

inline

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 & = std::cout ) const

virtual

Print the constraint data.

Parameters

[in] out The file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 633 of file kinematic_constraint.cpp.

Member Data Documentation

double kinematic_constraints::OrientationConstraint::absolute_x_axis_tolerance_

protected

Definition at line 486 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::absolute_y_axis_tolerance_

protected

Definition at line 486 of file kinematic_constraint.h.

double kinematic_constraints::OrientationConstraint::absolute_z_axis_tolerance_

protected

Storage for the tolerances.

Definition at line 486 of file kinematic_constraint.h.

std::string kinematic_constraints::OrientationConstraint::desired_rotation_frame_id_

protected

The target frame of the transform tree.

Definition at line 484 of file kinematic_constraint.h.

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_rotation_matrix_

protected

The desired rotation matrix in the tf frame.

Definition at line 480 of file kinematic_constraint.h.

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_rotation_matrix_inv_

protected

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

Definition at line 481 of file kinematic_constraint.h.

const robot_model::LinkModel* kinematic_constraints::OrientationConstraint::link_model_

protected

The target link model.

Definition at line 479 of file kinematic_constraint.h.

bool kinematic_constraints::OrientationConstraint::mobile_frame_

protected

Whether or not the header frame is mobile or fixed.

Definition at line 485 of file kinematic_constraint.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation