utils.cpp File Reference

#include <moveit/kinematic_constraints/utils.h>
#include <geometric_shapes/solid_primitive_dims.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <moveit/utils/xmlrpc_casts.h>
#include <moveit/utils/message_checks.h>
#include <tf2_eigen/tf2_eigen.h>

Include dependency graph for utils.cpp:

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Namespaces
	kinematic_constraints
	Representation and evaluation of kinematic constraints.

Functions
static bool	kinematic_constraints::collectConstraints (XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
static bool	kinematic_constraints::constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::JointConstraint &constraint)
static bool	kinematic_constraints::constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::OrientationConstraint &constraint)
static bool	kinematic_constraints::constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::PositionConstraint &constraint)
static bool	kinematic_constraints::constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::VisibilityConstraint &constraint)
bool	kinematic_constraints::constructConstraints (XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
	extract constraint message from XmlRpc node. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance=std::numeric_limits< double >::epsilon())
	Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance_below, double tolerance_above)
	Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::Point &reference_point, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, const std::vector< double > &tolerance_pos, const std::vector< double > &tolerance_angle)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, double tolerance_pos=1e-3, double tolerance_angle=1e-2)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint. More...
moveit_msgs::Constraints	kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, double tolerance=1e-2)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint. More...
static bool	kinematic_constraints::constructPoseStamped (XmlRpc::XmlRpcValue::iterator &it, geometry_msgs::PoseStamped &pose)
std::size_t	kinematic_constraints::countIndividualConstraints (const moveit_msgs::Constraints &constr)
bool	kinematic_constraints::isEmpty (const moveit_msgs::Constraints &constr)
	Check if any constraints were specified. More...
moveit_msgs::Constraints	kinematic_constraints::mergeConstraints (const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
	Merge two sets of constraints into one. More...
bool	kinematic_constraints::resolveConstraintFrames (const moveit::core::RobotState &state, moveit_msgs::Constraints &constraints)
	Resolves frames used in constraints to links in the robot model. More...

Variables
const std::string	kinematic_constraints::LOGNAME = "kinematic_constraint_utils"