A class that contains many different constraints, and can check RobotState *versus the full set. A set is satisfied if and only if all constraints are satisfied. More...
#include <kinematic_constraint.h>
Public Member Functions  
bool  add (const moveit_msgs::Constraints &c, const robot_state::Transforms &tf) 
Add all known constraints. More...  
bool  add (const std::vector< moveit_msgs::JointConstraint > &jc) 
Add a vector of joint constraints. More...  
bool  add (const std::vector< moveit_msgs::PositionConstraint > &pc, const robot_state::Transforms &tf) 
Add a vector of position constraints. More...  
bool  add (const std::vector< moveit_msgs::OrientationConstraint > &oc, const robot_state::Transforms &tf) 
Add a vector of orientation constraints. More...  
bool  add (const std::vector< moveit_msgs::VisibilityConstraint > &vc, const robot_state::Transforms &tf) 
Add a vector of visibility constraints. More...  
void  clear () 
Clear the stored constraints. More...  
ConstraintEvaluationResult  decide (const robot_state::RobotState &state, bool verbose=false) const 
Determines whether all constraints are satisfied by state, returning a single evaluation result. More...  
ConstraintEvaluationResult  decide (const robot_state::RobotState &state, std::vector< ConstraintEvaluationResult > &results, bool verbose=false) const 
Determines whether all constraints are satisfied by state, returning a vector of results through a parameter in addition to a summed result. More...  
bool  empty () const 
Returns whether or not there are any constraints in the set. More...  
bool  equal (const KinematicConstraintSet &other, double margin) const 
Whether or not another KinematicConstraintSet is equal to this one. More...  
const moveit_msgs::Constraints &  getAllConstraints () const 
Get all constraints in the set. More...  
const std::vector< moveit_msgs::JointConstraint > &  getJointConstraints () const 
Get all joint constraints in the set. More...  
const std::vector< moveit_msgs::OrientationConstraint > &  getOrientationConstraints () const 
Get all orientation constraints in the set. More...  
const std::vector< moveit_msgs::PositionConstraint > &  getPositionConstraints () const 
Get all position constraints in the set. More...  
const std::vector< moveit_msgs::VisibilityConstraint > &  getVisibilityConstraints () const 
Get all visibility constraints in the set. More...  
KinematicConstraintSet (const robot_model::RobotModelConstPtr &model)  
Constructor. More...  
void  print (std::ostream &out=std::cout) const 
Print the constraint data. More...  
~KinematicConstraintSet ()  
Protected Attributes  
moveit_msgs::Constraints  all_constraints_ 
Messages corresponding to all internal constraints. More...  
std::vector< moveit_msgs::JointConstraint >  joint_constraints_ 
Messages corresponding to all internal joint constraints. More...  
std::vector< KinematicConstraintPtr >  kinematic_constraints_ 
Shared pointers to all the member constraints. More...  
std::vector< moveit_msgs::OrientationConstraint >  orientation_constraints_ 
Messages corresponding to all internal orientation constraints. More...  
std::vector< moveit_msgs::PositionConstraint >  position_constraints_ 
Messages corresponding to all internal position constraints. More...  
robot_model::RobotModelConstPtr  robot_model_ 
The kinematic model used for by the Set. More...  
std::vector< moveit_msgs::VisibilityConstraint >  visibility_constraints_ 
Messages corresponding to all internal visibility constraints. More...  
A class that contains many different constraints, and can check RobotState *versus the full set. A set is satisfied if and only if all constraints are satisfied.
The set may contain any number of different kinds of constraints. All constraints, including invalid ones, are stored internally.
Definition at line 861 of file kinematic_constraint.h.

inline 
Constructor.
[in]  model  The kinematic model used for constraint evaluation 
Definition at line 872 of file kinematic_constraint.h.

inline 
Definition at line 876 of file kinematic_constraint.h.
bool kinematic_constraints::KinematicConstraintSet::add  (  const moveit_msgs::Constraints &  c, 
const robot_state::Transforms &  tf  
) 
Add all known constraints.
[in]  c  A message potentially contain vectors of constraints of add types 
Definition at line 1120 of file kinematic_constraint.cpp.
bool kinematic_constraints::KinematicConstraintSet::add  (  const std::vector< moveit_msgs::JointConstraint > &  jc  ) 
Add a vector of joint constraints.
[in]  jc  A vector of joint constraints 
Definition at line 1057 of file kinematic_constraint.cpp.
bool kinematic_constraints::KinematicConstraintSet::add  (  const std::vector< moveit_msgs::PositionConstraint > &  pc, 
const robot_state::Transforms &  tf  
) 
Add a vector of position constraints.
[in]  pc  A vector of position constraints 
Definition at line 1072 of file kinematic_constraint.cpp.
bool kinematic_constraints::KinematicConstraintSet::add  (  const std::vector< moveit_msgs::OrientationConstraint > &  oc, 
const robot_state::Transforms &  tf  
) 
Add a vector of orientation constraints.
[in]  oc  A vector of orientation constraints 
Definition at line 1088 of file kinematic_constraint.cpp.
bool kinematic_constraints::KinematicConstraintSet::add  (  const std::vector< moveit_msgs::VisibilityConstraint > &  vc, 
const robot_state::Transforms &  tf  
) 
Add a vector of visibility constraints.
[in]  vc  A vector of visibility constraints 
Definition at line 1104 of file kinematic_constraint.cpp.
void kinematic_constraints::KinematicConstraintSet::clear  (  ) 
Clear the stored constraints.
Definition at line 1047 of file kinematic_constraint.cpp.
ConstraintEvaluationResult kinematic_constraints::KinematicConstraintSet::decide  (  const robot_state::RobotState &  state, 
bool  verbose = false 

)  const 
Determines whether all constraints are satisfied by state, returning a single evaluation result.
[in]  state  The state to test 
[in]  verbose  Whether or not to make each constraint give debug output 
Definition at line 1129 of file kinematic_constraint.cpp.
ConstraintEvaluationResult kinematic_constraints::KinematicConstraintSet::decide  (  const robot_state::RobotState &  state, 
std::vector< ConstraintEvaluationResult > &  results,  
bool  verbose = false 

)  const 
Determines whether all constraints are satisfied by state, returning a vector of results through a parameter in addition to a summed result.
[in]  state  The state to test 
[out]  results  The individual results from constraint evaluation on each constraint contained in the set. 
[in]  verbose  Whether to print the results of each constraint check. 
Definition at line 1142 of file kinematic_constraint.cpp.

inline 
Returns whether or not there are any constraints in the set.
Definition at line 1051 of file kinematic_constraint.h.
bool kinematic_constraints::KinematicConstraintSet::equal  (  const KinematicConstraintSet &  other, 
double  margin  
)  const 
Whether or not another KinematicConstraintSet is equal to this one.
Equality means that for each constraint in this set there is a constraint in the other set for which equal() is true with the given margin. Multiple constraints in this set can be matched to single constraints in the other set. Some constraints in the other set may not be matched to constraints in this set.
[in]  other  The other set against which to test 
[in]  margin  The margin to apply to all individual constraint equality tests 
Definition at line 1165 of file kinematic_constraint.cpp.

inline 
Get all constraints in the set.
Definition at line 1040 of file kinematic_constraint.h.

inline 
Get all joint constraints in the set.
Definition at line 1018 of file kinematic_constraint.h.

inline 
Get all orientation constraints in the set.
Definition at line 1007 of file kinematic_constraint.h.

inline 
Get all position constraints in the set.
Definition at line 996 of file kinematic_constraint.h.

inline 
Get all visibility constraints in the set.
Definition at line 1029 of file kinematic_constraint.h.
void kinematic_constraints::KinematicConstraintSet::print  (  std::ostream &  out = std::cout  )  const 
Print the constraint data.
[in]  out  The file stream for printing 
Definition at line 1158 of file kinematic_constraint.cpp.

protected 
Messages corresponding to all internal constraints.
Definition at line 1069 of file kinematic_constraint.h.

protected 
Messages corresponding to all internal joint constraints.
Definition at line 1061 of file kinematic_constraint.h.

protected 
Shared pointers to all the member constraints.
Definition at line 1059 of file kinematic_constraint.h.

protected 
Messages corresponding to all internal orientation constraints.
Definition at line 1065 of file kinematic_constraint.h.

protected 
Messages corresponding to all internal position constraints.
Definition at line 1063 of file kinematic_constraint.h.

protected 
The kinematic model used for by the Set.
Definition at line 1057 of file kinematic_constraint.h.

protected 
Messages corresponding to all internal visibility constraints.
Definition at line 1067 of file kinematic_constraint.h.