utils.h
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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 kinematic_constraints
48 {
62 moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints& first,
63  const moveit_msgs::Constraints& second);
64 
66 bool isEmpty(const moveit_msgs::Constraints& constr);
67 
68 std::size_t countIndividualConstraints(const moveit_msgs::Constraints& constr);
69 
82 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
83  const robot_model::JointModelGroup* jmg, double tolerance_below,
84  double tolerance_above);
85 
97 moveit_msgs::Constraints constructGoalConstraints(const robot_state::RobotState& state,
99  double tolerance = std::numeric_limits<double>::epsilon());
100 
116 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
117  double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);
118 
134 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name, const geometry_msgs::PoseStamped& pose,
135  const std::vector<double>& tolerance_pos,
136  const std::vector<double>& tolerance_angle);
137 
149 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
150  const geometry_msgs::QuaternionStamped& quat,
151  double tolerance = 1e-2);
152 
166 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
167  const geometry_msgs::Point& reference_point,
168  const geometry_msgs::PointStamped& goal_point,
169  double tolerance = 1e-3);
170 
183 moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
184  const geometry_msgs::PointStamped& goal_point,
185  double tolerance = 1e-3);
186 }
187 
188 #endif
bool isEmpty(const moveit_msgs::Constraints &constr)
Check if any constraints were specified.
Definition: utils.cpp:110
std::size_t countIndividualConstraints(const moveit_msgs::Constraints &constr)
Definition: utils.cpp:116
Representation and evaluation of kinematic constraints.
moveit_msgs::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...
Definition: utils.cpp:129
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:110
moveit_msgs::Constraints mergeConstraints(const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
Merge two sets of constraints into one.
Definition: utils.cpp:41


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Apr 18 2018 02:49:03