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

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::JointConstraint:

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

bool	configure (const moveit_msgs::JointConstraint &jc)
	Configure the constraint based on a moveit_msgs::JointConstraint. More...

ConstraintEvaluationResult	decide (const moveit::core::RobotState &state, bool verbose=false) const override
	Decide whether the constraint is satisfied in the indicated state. More...

bool	enabled () const override
	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...

bool	equal (const KinematicConstraint &other, double margin) const override
	Check if two joint constraints are the same. More...

double	getDesiredJointPosition () const
	Gets the desired position component of the constraint. More...

const moveit::core::JointModel *	getJointModel () 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 moveit::core::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 moveit::core::RobotModelConstPtr &model)
	Constructor. More...

void	print (std::ostream &out=std::cout) const override
	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 moveit::core::RobotModelConstPtr &	getRobotModel () const

ConstraintType	getType () const
	Get the type of constraint. More...

	KinematicConstraint (const moveit::core::RobotModelConstPtr &model)
	Constructor. More...

virtual	~KinematicConstraint ()

Protected Attributes
bool	joint_is_continuous_
	Whether or not the joint is continuous. More...

const moveit::core::JointModel *	joint_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...

moveit::core::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 235 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ JointConstraint()

kinematic_constraints::JointConstraint::JointConstraint ( const moveit::core::RobotModelConstPtr & model )

inline

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 243 of file kinematic_constraint.h.

Member Function Documentation

◆ clear()

void kinematic_constraints::JointConstraint::clear ( )

overridevirtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 334 of file kinematic_constraint.cpp.

◆ configure()

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] jc JointConstraint for configuration

Returns: True if constraint can be configured from jc

Definition at line 152 of file kinematic_constraint.cpp.

◆ decide()

ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide	(	const moveit::core::RobotState &	state,
		bool	verbose = `false`
	)		const

overridevirtual

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 296 of file kinematic_constraint.cpp.

◆ enabled()

bool kinematic_constraints::JointConstraint::enabled ( ) const

overridevirtual

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 329 of file kinematic_constraint.cpp.

◆ equal()

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

overridevirtual

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]	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 284 of file kinematic_constraint.cpp.

◆ getDesiredJointPosition()

double kinematic_constraints::JointConstraint::getDesiredJointPosition ( ) const

inline

Gets the desired position component of the constraint.

Returns: The desired joint position

Definition at line 331 of file kinematic_constraint.h.

◆ getJointModel()

const moveit::core::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 291 of file kinematic_constraint.h.

◆ getJointToleranceAbove()

double kinematic_constraints::JointConstraint::getJointToleranceAbove ( ) const

inline

Gets the upper tolerance component of the joint constraint.

Returns: The above joint tolerance

Definition at line 342 of file kinematic_constraint.h.

◆ getJointToleranceBelow()

double kinematic_constraints::JointConstraint::getJointToleranceBelow ( ) const

inline

Gets the lower tolerance component of the joint constraint.

Returns: The below joint tolerance

Definition at line 353 of file kinematic_constraint.h.

◆ getJointVariableIndex()

int kinematic_constraints::JointConstraint::getJointVariableIndex ( ) const

inline

Definition at line 320 of file kinematic_constraint.h.

◆ getJointVariableName()

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

inline

Gets the joint variable name, as known to the moveit::core::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 315 of file kinematic_constraint.h.

◆ getLocalVariableName()

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 303 of file kinematic_constraint.h.

◆ print()

void kinematic_constraints::JointConstraint::print ( std::ostream & out = std::cout ) const

overridevirtual

Print the constraint data.

Parameters

[in] out The file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 344 of file kinematic_constraint.cpp.

Member Data Documentation

◆ joint_is_continuous_

bool kinematic_constraints::JointConstraint::joint_is_continuous_

protected

Whether or not the joint is continuous.

Definition at line 360 of file kinematic_constraint.h.

◆ joint_model_

const moveit::core::JointModel* kinematic_constraints::JointConstraint::joint_model_

protected

The joint from the kinematic model for this constraint.

Definition at line 359 of file kinematic_constraint.h.

◆ joint_position_

double kinematic_constraints::JointConstraint::joint_position_

protected

Definition at line 364 of file kinematic_constraint.h.

◆ joint_tolerance_above_

double kinematic_constraints::JointConstraint::joint_tolerance_above_

protected

Definition at line 364 of file kinematic_constraint.h.

◆ joint_tolerance_below_

double kinematic_constraints::JointConstraint::joint_tolerance_below_

protected

Position and tolerance values.

Definition at line 364 of file kinematic_constraint.h.

◆ joint_variable_index_

int kinematic_constraints::JointConstraint::joint_variable_index_

protected

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

Definition at line 363 of file kinematic_constraint.h.

◆ joint_variable_name_

std::string kinematic_constraints::JointConstraint::joint_variable_name_

protected

The joint variable name.

Definition at line 362 of file kinematic_constraint.h.

◆ local_variable_name_

std::string kinematic_constraints::JointConstraint::local_variable_name_

protected

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

Definition at line 361 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

◆ JointConstraint()

Member Function Documentation

◆ clear()

◆ configure()

◆ decide()

◆ enabled()

◆ equal()

◆ getDesiredJointPosition()

◆ getJointModel()

◆ getJointToleranceAbove()

◆ getJointToleranceBelow()

◆ getJointVariableIndex()

◆ getJointVariableName()

◆ getLocalVariableName()

◆ print()

Member Data Documentation

◆ joint_is_continuous_

◆ joint_model_

◆ joint_position_

◆ joint_tolerance_above_

◆ joint_tolerance_below_

◆ joint_variable_index_

◆ joint_variable_name_

◆ local_variable_name_