planning_environment::PositionConstraintEvaluator Class Reference

#include <kinematic_state_constraint_evaluator.h>

Inheritance diagram for planning_environment::PositionConstraintEvaluator:

[legend]

List of all members.

Public Member Functions
virtual void	clear (void)
	Clear the stored constraint.
bool	decide (double dPos, bool verbose=false) const
	Decide whether the constraint is satisfied. The distances to the position and to the orientation are given.
virtual bool	decide (const planning_models::KinematicState *state, bool verbose=false) const
	Decide whether the constraint is satisfied in the indicated state or group, if specified.
void	evaluate (const planning_models::KinematicState *state, double &distPos, bool verbose=false) const
	Evaluate the distances to the position and to the orientation are given.
const motion_planning_msgs::PositionConstraint &	getConstraintMessage (void) const
	Get the constraint message.
	PositionConstraintEvaluator (void)
void	print (std::ostream &out=std::cout) const
	Print the constraint data.
bool	use (const motion_planning_msgs::PositionConstraint &pc)
	This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.
virtual bool	use (const ros::Message *kc)
	This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.
Protected Attributes
boost::scoped_ptr< bodies::Body >	m_constraint_region
btVector3	m_offset
motion_planning_msgs::PositionConstraint	m_pc
double	m_x
double	m_y
double	m_z

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Detailed Description

Definition at line 194 of file kinematic_state_constraint_evaluator.h.

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Constructor & Destructor Documentation

planning_environment::PositionConstraintEvaluator::PositionConstraintEvaluator

(

void

)

[inline]

Definition at line 198 of file kinematic_state_constraint_evaluator.h.

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Member Function Documentation

void planning_environment::PositionConstraintEvaluator::clear

(

void

)

[virtual]

Clear the stored constraint.

Implements planning_environment::KinematicConstraintEvaluator.

Definition at line 230 of file kinematic_state_constraint_evaluator.cpp.

bool planning_environment::PositionConstraintEvaluator::decide	(	double	dPos,
		bool	verbose = false
	)			const

Decide whether the constraint is satisfied. The distances to the position and to the orientation are given.

Definition at line 366 of file kinematic_state_constraint_evaluator.cpp.

bool planning_environment::PositionConstraintEvaluator::decide	(	const planning_models::KinematicState *	state,
		bool	verbose = false
	)			const [virtual]

Decide whether the constraint is satisfied in the indicated state or group, if specified.

Implements planning_environment::KinematicConstraintEvaluator.

Definition at line 238 of file kinematic_state_constraint_evaluator.cpp.

void planning_environment::PositionConstraintEvaluator::evaluate	(	const planning_models::KinematicState *	state,
		double &	distPos,
		bool	verbose = false
	)			const

Evaluate the distances to the position and to the orientation are given.

Definition at line 319 of file kinematic_state_constraint_evaluator.cpp.

const motion_planning_msgs::PositionConstraint & planning_environment::PositionConstraintEvaluator::getConstraintMessage

(

void

)

const

Get the constraint message.

Definition at line 376 of file kinematic_state_constraint_evaluator.cpp.

void planning_environment::PositionConstraintEvaluator::print

(

std::ostream &

out = std::cout

)

const [virtual]

Print the constraint data.

Reimplemented from planning_environment::KinematicConstraintEvaluator.

Definition at line 386 of file kinematic_state_constraint_evaluator.cpp.

bool planning_environment::PositionConstraintEvaluator::use

(

const motion_planning_msgs::PositionConstraint &

pc

)

This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.

Definition at line 194 of file kinematic_state_constraint_evaluator.cpp.

bool planning_environment::PositionConstraintEvaluator::use

(

const ros::Message *

kc

)

[virtual]

This function assumes the constraint has been transformed into the proper frame, if such a transform is needed.

Implements planning_environment::KinematicConstraintEvaluator.

Definition at line 123 of file kinematic_state_constraint_evaluator.cpp.

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Member Data Documentation

boost::scoped_ptr<bodies::Body> planning_environment::PositionConstraintEvaluator::m_constraint_region [protected]

Definition at line 232 of file kinematic_state_constraint_evaluator.h.

btVector3 planning_environment::PositionConstraintEvaluator::m_offset [protected]

Definition at line 231 of file kinematic_state_constraint_evaluator.h.

motion_planning_msgs::PositionConstraint planning_environment::PositionConstraintEvaluator::m_pc [protected]

Definition at line 229 of file kinematic_state_constraint_evaluator.h.

double planning_environment::PositionConstraintEvaluator::m_x [protected]

Definition at line 230 of file kinematic_state_constraint_evaluator.h.

double planning_environment::PositionConstraintEvaluator::m_y [protected]

Definition at line 230 of file kinematic_state_constraint_evaluator.h.

double planning_environment::PositionConstraintEvaluator::m_z [protected]

Definition at line 230 of file kinematic_state_constraint_evaluator.h.

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The documentation for this class was generated from the following files:

• kinematic_state_constraint_evaluator.h
• kinematic_state_constraint_evaluator.cpp