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35 #ifndef CARTESIANCONFIGURATION_H
36 #define CARTESIANCONFIGURATION_H
41 #include <boost/optional.hpp>
42 #include <geometry_msgs/Pose.h>
43 #include <geometry_msgs/PoseStamped.h>
58 class CartesianConfiguration :
public RobotConfiguration
63 CartesianConfiguration(
const std::string& group_name,
const std::string& link_name,
const std::vector<double>& config);
65 CartesianConfiguration(
const std::string& group_name,
const std::string& link_name,
const std::vector<double>& config,
66 const moveit::core::RobotModelConstPtr& robot_model);
75 void setPose(
const geometry_msgs::Pose& pose);
76 const geometry_msgs::Pose&
getPose()
const;
79 void setSeed(
const JointConfiguration& config);
80 const JointConfiguration&
getSeed()
const;
91 static geometry_msgs::Pose
toPose(
const std::vector<double>& pose);
92 static geometry_msgs::PoseStamped
toStampedPose(
const geometry_msgs::Pose& pose);
96 geometry_msgs::Pose
pose_;
107 boost::optional<JointConfiguration>
seed_{ boost::none };
110 std::ostream&
operator<<(std::ostream& ,
const CartesianConfiguration& );
157 return seed_.value();
162 return seed_.is_initialized();
186 #endif // CARTESIANCONFIGURATION_H
boost::optional< double > tolerance_pose_
The dimensions of the sphere associated with the target region of the position constraint.
void setPoseTolerance(const double tol)
moveit_msgs::Constraints toGoalConstraints() const override
static geometry_msgs::PoseStamped toStampedPose(const geometry_msgs::Pose &pose)
const boost::optional< double > getPoseTolerance() const
void setSeed(const JointConfiguration &config)
moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance=std::numeric_limits< double >::epsilon())
geometry_msgs::Pose pose_
const boost::optional< double > getAngleTolerance() const
void setPose(const geometry_msgs::Pose &pose)
const std::string & getLinkName() const
std::ostream & operator<<(std::ostream &, const CartesianConfiguration &)
const geometry_msgs::Pose & getPose() const
boost::optional< JointConfiguration > seed_
The seed for computing the IK solution of the cartesian configuration.
moveit_msgs::RobotState toMoveitMsgsRobotState() const override
boost::optional< double > tolerance_angle_
The value to assign to the absolute tolerances of the orientation constraint.
void setLinkName(const std::string &link_name)
const JointConfiguration & getSeed() const
Class to define a robot configuration in space with the help of joint values.
bool hasSeed() const
States if a seed for the cartesian configuration is set.
void setAngleTolerance(const double tol)
static geometry_msgs::Pose toPose(const std::vector< double > &pose)