utils.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
38 #define MOVEIT_KINEMATIC_CONSTRAINTS_UTILS_
39 
40 #include <moveit_msgs/MotionPlanRequest.h>
41 #include <geometry_msgs/PointStamped.h>
42 #include <geometry_msgs/PoseStamped.h>
43 #include <geometry_msgs/QuaternionStamped.h>
45 #include <limits>
46 
47 namespace XmlRpc
48 {
49 class XmlRpcValue;
50 }
51 
52 namespace kinematic_constraints
53 {
67 moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
68  const moveit_msgs::Constraints& second);
69 
71 bool isEmpty(const moveit_msgs::Constraints& constr);
72 
73 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
74 
87 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
88  const robot_model::JointModelGroup* jmg, double tolerance_below,
89  double tolerance_above);
90 
102 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
103  const robot_model::JointModelGroup* jmg,
104  double tolerance = std::numeric_limits<double>::epsilon());
105 
121 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
122  double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);
123 
139 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
140  const std::vector<double>& tolerance_pos,
141  const std::vector<double>& tolerance_angle);
142 
154 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
155  const geometry_msgs::QuaternionStamped& quat,
156  double tolerance = 1e-2);
157 
171 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
172  const geometry_msgs::Point& reference_point,
173  const geometry_msgs::PointStamped& goal_point,
174  double tolerance = 1e-3);
175 
188 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
189  const geometry_msgs::PointStamped& goal_point,
190  double tolerance = 1e-3);
191 
203 bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints& constraints);
204 }
205 
206 #endif
bool isEmpty(const moveit_msgs::Constraints &constr)
Check if any constraints were specified.
Definition: utils.cpp:118
std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr)
Definition: utils.cpp:124
Representation and evaluation of kinematic constraints.
bool constructConstraints(XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
extract constraint message from XmlRpc node.
Definition: utils.cpp:564
moveit_msgs::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...
Definition: utils.cpp:237
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
Merge two sets of constraints into one.
Definition: utils.cpp:49


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Sep 15 2019 03:57:56